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> You can build a 3d key-points map using Slam algorithms real time on a raspberry pi. Does anyone have links to any open source projects doing this? Preferabl

• GistNoesis 8y ago
  I used this today for my robot. https://github.com/Alkaid-Benetnash/ORB_SLAM2/ https://github.com/Alkaid-Benetnash/ORB_SLAM2/ (This particular fork can save the map although it needs to be generated on the pi). It works almost out of the box, just need half a day of slow compilation. For use on a raspberry pi model 3B+, 2000 key-points, it runs 1-2 fps at 640x480, 5-6 fps at 320x240. Use 500M for a few rooms and 75% CPU when map building 50% CPU once built. It's not optimized for the pi so you can probably get it to run at least 3 times faster if you are willing to get your hands dirty. For it to work well a 180 degree camera really makes a difference, and run opencv cpp-tutorial-cameracalibration on a chessboard to get the needed extrinsics. There are probably other slam algos in ROS, but I'm not sure how raspberry-pi compatible they are. If you want to try and experiment with neural networks, once you have build your 3d map on powerful computer you can build a neural network to learn the pose from the image. This will allow you to have some constant time, constant memory algorithm for later use on the pi, it will probably be less precise.