TurboMap speeds up local mapping in ORB-SLAM3 by 1.3–1.6× using GPU parallelization for search and fusion, plus a faster CPU culling method, without hurting trajectory accuracy.
A comprehensive study of systems challenges in visual simultaneous localization and mapping systems,
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TurboMap: GPU-Accelerated Local Mapping for Visual SLAM
TurboMap speeds up local mapping in ORB-SLAM3 by 1.3–1.6× using GPU parallelization for search and fusion, plus a faster CPU culling method, without hurting trajectory accuracy.