{"id":"https://openalex.org/W4378801124","doi":"https://doi.org/10.1145/3558481.3591310","title":"Brief Announcement: Optimized GPU-accelerated Feature Extraction for ORB-SLAM Systems","display_name":"Brief Announcement: Optimized GPU-accelerated Feature Extraction for ORB-SLAM Systems","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4378801124","doi":"https://doi.org/10.1145/3558481.3591310"},"language":"en","primary_location":{"id":"doi:10.1145/3558481.3591310","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3558481.3591310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 35th ACM Symposium on Parallelism in Algorithms and Architectures","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11380/1311086","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041657169","display_name":"Filippo Muzzini","orcid":"https://orcid.org/0000-0001-6523-0366"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Filippo Muzzini","raw_affiliation_strings":["University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022843863","display_name":"Nicola Capodieci","orcid":"https://orcid.org/0000-0002-5845-4991"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Capodieci","raw_affiliation_strings":["University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075342479","display_name":"Roberto Cavicchioli","orcid":"https://orcid.org/0000-0003-0166-0898"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Cavicchioli","raw_affiliation_strings":["University of Modena and Reggio Emilia, Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071661789","display_name":"Benjamin Rouxel","orcid":"https://orcid.org/0000-0002-7178-4768"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Benjamin Rouxel","raw_affiliation_strings":["University of Modena and Reggio Emilia, Modena, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041657169"],"corresponding_institution_ids":["https://openalex.org/I122346577"],"apc_list":null,"apc_paid":null,"fwci":6.8527,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96052835,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"299","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.8964542150497437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8661618232727051},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.5431082248687744},{"id":"https://openalex.org/keywords/pyramid","display_name":"Pyramid (geometry)","score":0.5278867483139038},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5103208422660828},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5016477108001709},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5009410381317139},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49151238799095154},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.4705900251865387},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.4571203887462616},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4376230537891388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3332310914993286},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3011651039123535},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.16309714317321777},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.10853704810142517}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.8964542150497437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8661618232727051},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.5431082248687744},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.5278867483139038},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5103208422660828},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5016477108001709},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5009410381317139},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49151238799095154},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.4705900251865387},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.4571203887462616},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4376230537891388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3332310914993286},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3011651039123535},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.16309714317321777},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.10853704810142517},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3558481.3591310","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3558481.3591310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 35th ACM Symposium on Parallelism in Algorithms and Architectures","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1311086","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1311086","pdf_url":null,"source":{"id":"https://openalex.org/S4377196326","display_name":"Iris Unimore (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.5281/zenodo.10497465","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.10497465","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1311086","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1311086","pdf_url":null,"source":{"id":"https://openalex.org/S4377196326","display_name":"Iris Unimore (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1969092512","display_name":null,"funder_award_id":"101007311","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2960126438","display_name":null,"funder_award_id":"IMOCO4.E","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G5447453677","display_name":null,"funder_award_id":"101007311","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"}],"funders":[{"id":"https://openalex.org/F4320327207","display_name":"Electronic Components and Systems for European Leadership","ror":null},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W612478963","https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W2052408227","https://openalex.org/W2117228865","https://openalex.org/W2151290401","https://openalex.org/W2535547924","https://openalex.org/W2621274416","https://openalex.org/W2891899936","https://openalex.org/W2915968927","https://openalex.org/W2937713253","https://openalex.org/W2983177818","https://openalex.org/W3016967007","https://openalex.org/W3034539665","https://openalex.org/W3043971245","https://openalex.org/W3087945586","https://openalex.org/W3099913005","https://openalex.org/W3102327032","https://openalex.org/W3162561493","https://openalex.org/W3164619731","https://openalex.org/W4245719430","https://openalex.org/W6884523483"],"related_works":["https://openalex.org/W1963859303","https://openalex.org/W2364044215","https://openalex.org/W2389600408","https://openalex.org/W240129890","https://openalex.org/W3048701459","https://openalex.org/W2149078538","https://openalex.org/W2080146221","https://openalex.org/W2370314112","https://openalex.org/W1912958759","https://openalex.org/W2792081825"],"abstract_inverted_index":{"Reducing":[0],"the":[1,35,39,51],"execution":[2,84],"time":[3,77,85],"of":[4,11,34,38,50],"ORB-SLAM":[5],"algorithm":[6],"is":[7,16,44],"a":[8,24,47,57],"crucial":[9],"aspect":[10],"autonomous":[12],"vehicles":[13],"since":[14],"it":[15],"computationally":[17],"intensive":[18],"for":[19],"embedded":[20,32],"boards.":[21],"We":[22],"propose":[23,56],"parallel":[25],"GPU-based":[26],"implementation,":[27],"able":[28],"to":[29,60],"run":[30],"on":[31,65,83],"boards,":[33],"Tracking":[36],"part":[37],"ORB-SLAM2/3":[40],"algorithm.":[41],"Our":[42],"implementation":[43],"not":[45],"simply":[46],"GPU":[48,72],"port":[49],"tracking":[52],"phase.":[53],"Instead,":[54],"we":[55],"novel":[58],"method":[59],"accelerate":[61],"image":[62],"Pyramid":[63],"construction":[64],"GPUs.":[66],"Comparison":[67],"against":[68],"state-of-the-art":[69],"CPU":[70],"and":[71,78,92],"implementations,":[73],"considering":[74],"both":[75],"computational":[76],"trajectory":[79],"errors":[80],"shows":[81],"improvement":[82],"in":[86],"well-known":[87],"datasets,":[88],"such":[89],"as":[90],"KITTI":[91],"EuRoC.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
