Method of accelerating simultaneous localization and mapping (SLAM) and device using same

An electronic device to perform a simultaneous localization and mapping (SLAM) operation, the electronic device comprising:

• an image database;
• a factor graph database;
• and
• a processor comprising:
• a pre-processing unit configured to:
• receive, from the image database, a map image in which a position of the electronic device is localized;
• receive, from the factor graph database, inertial measurement unit (IMU) sensor data;
• and
• configure a matrix according to fifteen factors, said fifteen factors being obtained by calculating six DoF-related components of the electronic device, said matrix defined by a plurality of row blocks divided in submatrices of 15×15, wherein each of the submatrices has a sub-submatrix of 6×6 related to a position and a rotation among the six DoF-related components and a remaining part including triaxial components for the IMU sensor data;
• a multiplier unit configured to, for each of the plurality of row blocks of the matrix, perform a multiplication of a row block and a vector, and sequentially output a result of the multiplication of the row block of the plurality of row blocks and the vector as first data;
• and
• a post-processing unit configured to simultaneously shift second data which is a result of a multiplication of each following row block of the plurality of row blocks and the vector to a location in which the first data has been stored.