ORB (Oriented FAST and Rotated BRIEF) keypoints detection, descriptors computation and BF-matching by CUDA
- Allocate memory for features separately to avoid misaligned memory bug while calculating hamming distance
- NMS keypoints after all octave detection completed
- Speed up Gaussian filter
- Speed up hamming matching
OpenCV, CUDA
Keypoints example:
Matching example:
OpenCV example:
Repeat the matching test for 100 times on GTX 1080 and RTX 3090, and here are the results:
| Device | Version | Detection / Matching Speed (ms) |
|---|---|---|
| GTX 1080 | 1.0 | 3.71 / 3.28 |
| GTX 1080 | 2.0 | 3.21 / 1.08 |
| RTX 3090 | 1.0 | (Misaligned memory bug) |
| RTX 3090 | 2.0 | 1.74 / 0.18 |