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SLAM (Simultaneous Localization and Mapping) on mobile robot requires high performance but low power consumption because it is constrained to the battery. This paper testes the performance and evaluates the power efficiency of enabling GPU acceleration for ORB-SLAM2 on three embedded GPU systems: Jetson Xavier, Jetson TX2 and Jetson Nano.
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Peng et al. (2019) studied this question.
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