Research Article
Research on the Application of Visual SLAM in Embedded GPU
Algorithm 1
Optimization of Gaussian pyramid construction and feature detection algorithm processes.
Input: An image Im, Gaussian pyramid layers levelNum | Output: A set of feature points of the first layer image | 1 Image is transferred to the GPU memory | 2 cudaMemCopyHostToDevice(Im); | 3 Construct Gaussian pyramid of the image on GPU | 4 for i 0 to levelNum | 5 d_ Ip[i] gpuBuildScalePyramid(Im); | 6 end | 7 Calculate the feature points of the first layer image | 8 gpuFeatureDetect(d_Ip[0]); | 9 Pt[0][0…Nt1] gpuGetFeaturePoint(); | 10 Synchronize the instructions of constructing Gaussian pyramid | 11 synchronization(); | Note: The beginning of d refers to the data allocated in the video memory, Nt1 is the temporary number of feature points |
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