@inproceedings{9089231e802b4bf984a999d45584e715,
title = "FastTrack: GPU-Accelerated Tracking for Visual SLAM",
abstract = "The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to complete in a timely manner for each frame to avoid poor localization or tracking loss. We therefore present a new approach which leverages GPU computing power to accelerate time-consuming components of tracking in order to improve its performance. These components include stereo feature matching and local map tracking. We implement our design inside the ORB-SLAM3 tracking process using CUDA. Our evaluation demonstrates an overall improvement in tracking performance of up to 2.8× on a desktop and Jetson Xavier NX board in stereo-inertial mode, using the well-known SLAM datasets EuRoC and TUM-VI.",
author = "Kimia Khabiri and Parsa Hosseininejad and Shishir Gopinath and Karthik Dantu and Ko, \{Steven Y.\}",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025 ; Conference date: 19-10-2025 Through 25-10-2025",
year = "2025",
doi = "10.1109/IROS60139.2025.11247316",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems ",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "15165--15172",
editor = "Christian Laugier and Alessandro Renzaglia and Nikolay Atanasov and Stan Birchfield and Grzegorz Cielniak and \{De Mattos\}, Leonardo and Laura Fiorini and Philippe Giguere and Kenji Hashimoto and Javier Ibanez-Guzman and Tetsushi Kamegawa and Jinoh Lee and Giuseppe Loianno and Kevin Luck and Hisataka Maruyama and Philippe Martinet and Hadi Moradi and Urbano Nunes and Julien Pettre and Alberto Pretto and Tommaso Ranzani and Arne Ronnau and Silvia Rossi and Elliott Rouse and Fabio Ruggiero and Olivier Simonin and Danwei Wang and Ming Yang and Eiichi Yoshida and Huijing Zhao",
booktitle = "IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings",
address = "United States",
}