J721EXSKG01EVM board Kudan and Hector Visual SLAM.

Aditya Varadaraj

Part Number: SK-TDA4VM

How do we implement Hector SLAM without using ros bags real-time using Intel Realsense or any Camera feed as input?

Also, what is Kudan SLAM? Is it licensed or open-source? Do we download it from somewhere or already present? How do we run it on the J721EXSG01EVM board using TI's accelerators?

over 1 year ago

0 Do-Kyoung Kwon over 1 year ago

TI__Expert 3040 points

Hi Aditya,

Hector SLAM is 2D Lidar SLAM, so it doesn't work with camera. We used RPLidar A1 - https://www.adafruit.com/product/4010.

Kudan SLAM is SLAM company. Their algorithms are licensed. We haven't tried Kudan SLAM on J7ES. Kudan Visual SLAM is similar to ORB SLAM. Some functional blocks can be offloaded to the accelerators, e.g. LDC for rectification, MSC for pyramid image generation.

Best regards,

Do-Kyoung

0 Aditya Varadaraj over 1 year ago in reply to Do-Kyoung Kwon

Prodigy 100 points

Hi

Can we use ORBSlam3 with TI accelerators for this product. If not, please suggest which Visual Slam will work with the TI accelerators.

0 Do-Kyoung Kwon over 1 year ago in reply to Aditya Varadaraj

TI__Expert 3040 points

FYI - ORB SLAM has GPL-3.0 license. So if you want to use it for commercial product, you have to pay. I haven't look into ORB SLAM3. Generally speaking, you can use LDC to rectify cameras for stereo SLAM and MSC for pyramid image generation. But these two are small part of ORB SLAM. You may want to use C7x for other blocks.

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J721EXSKG01EVM board Kudan and Hector Visual SLAM.