Paper Open VSLAM in short blocks

Kria KR260 Robotics Starter Kit

The final result of mapping and tracking is an authoritative map. PLC2 has now accelerated first crucial parts, by using the KRS (Kria Robotic Stack).

Vitis Vision Library on Github

Examples can be found in the Vitis Vision Library (formerly: xfOpenCV), here already exist methods for depth estimation implemented in HLS and can be used for further designs:

Kria Robotics Stack (KRS)

Scale and drift corrections

For scale and drift corrections within the trajectory calculation, certain keypoints are detected and described by ORB: ieeexplore