FastTrack: GPU-Accelerated Tracking for Visual SLAM
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866918140479275008 |
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| author | Khabiri, Kimia Hosseininejad, Parsa Gopinath, Shishir Dantu, Karthik Ko, Steven Y. |
| author_facet | Khabiri, Kimia Hosseininejad, Parsa Gopinath, Shishir Dantu, Karthik Ko, Steven Y. |
| contents | The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to complete in a timely manner for each frame to avoid poor localization or tracking loss. We therefore present a new approach which leverages GPU computing power to accelerate time-consuming components of tracking in order to improve its performance. These components include stereo feature matching and local map tracking. We implement our design inside the ORB-SLAM3 tracking process using CUDA. Our evaluation demonstrates an overall improvement in tracking performance of up to 2.8x on a desktop and Jetson Xavier NX board in stereo-inertial mode, using the well-known SLAM datasets EuRoC and TUM-VI. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_10757 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | FastTrack: GPU-Accelerated Tracking for Visual SLAM Khabiri, Kimia Hosseininejad, Parsa Gopinath, Shishir Dantu, Karthik Ko, Steven Y. Robotics Distributed, Parallel, and Cluster Computing The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to complete in a timely manner for each frame to avoid poor localization or tracking loss. We therefore present a new approach which leverages GPU computing power to accelerate time-consuming components of tracking in order to improve its performance. These components include stereo feature matching and local map tracking. We implement our design inside the ORB-SLAM3 tracking process using CUDA. Our evaluation demonstrates an overall improvement in tracking performance of up to 2.8x on a desktop and Jetson Xavier NX board in stereo-inertial mode, using the well-known SLAM datasets EuRoC and TUM-VI. |
| title | FastTrack: GPU-Accelerated Tracking for Visual SLAM |
| topic | Robotics Distributed, Parallel, and Cluster Computing |
| url | https://arxiv.org/abs/2509.10757 |