Apparatus for accelerating simultaneous localization and mapping and electronic device including the same

A method of accelerating simultaneous localization and mapping (SLAM), the method comprising:

• tracking, in a second frame subsequent to a first frame, a position of a first feature, among a plurality of features extracted from the first frame;
• obtaining a first measurement corresponding to a map point and a camera pose of the first feature based on the tracked position of the first feature in the second frame;
• computing one or more elements affecting an optimization matrix related to the first measurement, among a plurality of elements of a Hessian matrix regarding the map point and the camera pose;
• and
• accumulating the computed one or more elements in the optimization matrix used to perform an optimization operation with respect to one or more states of the map point and the camera pose.

An electronic device comprising:

• a sensor comprising a camera configured to obtain image data and an inertial measurement unit (IMU) configured to obtain inertial information of the electronic device;
• and
• a SLAM processor comprising:
• a front-end processor configured to track, in a second frame subsequent to a first frame, a position of a first feature, among a plurality of features extracted from the first frame;
• and
• a back-end processor configured to:
• obtain a first measurement corresponding to a map point and a camera pose of the first feature based on the position of the first feature in the second frame tracked by the front-end processor;
• compute one or more elements affecting an optimization matrix related to the first measurement, among a plurality of elements of a Hessian matrix regarding the map point and the camera pose;
• and
• accumulate the computed one or more elements in the optimization matrix used to perform an optimization operation with respect to one or more states of the map point and the camera pose.

A method of simultaneous localization and mapping (SLAM) of a device including a camera, the method comprising:

• obtaining an image from the camera;
• extracting a first feature and a second feature from the image;
• in a first cycle, tracking a position of the first feature;
• in cycles subsequent to the first cycle, obtaining a first measurement corresponding to a map point and a camera pose of the first feature based on the tracked position of the first feature and computing one or more elements related to the first measurement and affecting an optimization matrix;
• in a second cycle subsequent to the first cycle, tracking a position of the second feature;
• and
• in cycles subsequent to the second cycle, obtaining a second measurement corresponding to a map point and a camera pose of the second feature based on the tracked position of the second feature and computing one or more elements related to the second measurement and affecting an optimization matrix.