3 ms·

How much images/features/data would Jetson need to keep in RAM for an Amazon-size (huge) warehouse floor? Or better yet, what is the dataset size per m2 needed

by notum 5y ago

How much images/features/data would Jetson need to keep in RAM for an Amazon-size (huge) warehouse floor? Or better yet, what is the dataset size per m2 needed for successful positioning?

londons_explore 5y ago
Assuming the system is online, and you have a regular GPS fix accurate to say 10 meters, you only need to download data of that 10 meter circle.
- KaiserPro 5y ago
  you shouldn't need a GPS fix, because you should know your position to a much better accuracy using the visual odometer. for large scale 3d navigation, this approach is what we do, use a rough GPS location to cut down the search area. This was because we were using a stateless system. Its much more efficient to have a "rough localizer" to find that first fix, the optimise map loading based on current precise position and likely heading. On this system smaller system, once you have found your initial position (which will at worse require you to go through the entire DB once) you can keep most things on disk and selectively load your active area (the maximum possible travel time + load time + fudge factor.)
KaiserPro 5y ago
(I've not fully read the paper properly yet by the way, but I work on 3d global image based localisation professionally for the last 4 years) Compared to doing this for photos of buildings its simpler, as you know what direction the camera is pointing. This means instead of having to reconstruct a 3d point cloud, you can just keep a 2d image and have done with it. So at worst you'll need to keep an image of the entire area you want to position against on disk. But, you shouldn't need to keep it all in ram. as you're not flying, you can make the assumption that you're never going to jump from one corner of the place to another. So you can have you current location and an area big enough to buffer against SSD access. update They have photographed the floor, and pre-computed a map by extracting SIFT descriptors, which from memory are 128*32bits. They throw most of these descriptors away and keep only ~50 per "image". To answer your question directly, an entire warehouse would probably be less than 1 gigabyte.
- notum 5y ago
  Awesome response, thank you!

by notum 5y ago

How much images/features/data would Jetson need to keep in RAM for an Amazon-size (huge) warehouse floor? Or better yet, what is the dataset size per m2 needed for successful positioning?

londons_explore 5y ago

Assuming the system is online, and you have a regular GPS fix accurate to say 10 meters, you only need to download data of that 10 meter circle.

KaiserPro 5y ago
you shouldn't need a GPS fix, because you should know your position to a much better accuracy using the visual odometer. for large scale 3d navigation, this approach is what we do, use a rough GPS location to cut down the search area. This was because we were using a stateless system. Its much more efficient to have a "rough localizer" to find that first fix, the optimise map loading based on current precise position and likely heading. On this system smaller system, once you have found your initial position (which will at worse require you to go through the entire DB once) you can keep most things on disk and selectively load your active area (the maximum possible travel time + load time + fudge factor.)

KaiserPro 5y ago

(I've not fully read the paper properly yet by the way, but I work on 3d global image based localisation professionally for the last 4 years) Compared to doing this for photos of buildings its simpler, as you know what direction the camera is pointing. This means instead of having to reconstruct a 3d point cloud, you can just keep a 2d image and have done with it. So at worst you'll need to keep an image of the entire area you want to position against on disk. But, you shouldn't need to keep it all in ram. as you're not flying, you can make the assumption that you're never going to jump from one corner of the place to another. So you can have you current location and an area big enough to buffer against SSD access. update They have photographed the floor, and pre-computed a map by extracting SIFT descriptors, which from memory are 128*32bits. They throw most of these descriptors away and keep only ~50 per "image". To answer your question directly, an entire warehouse would probably be less than 1 gigabyte.

notum 5y ago
Awesome response, thank you!