Poplar Implementation of Bundle Adjustment using Gaussian Belief Propagation on Graphcore's IPU

Implementation of CVPR 2020 paper: Bundle Adjustment on a Graph Processor

Find the Poplar SDK documentation here. Code has been tested on Poplar SDK 1.2.

Find the corresponding python implementation here.

Running Bundle Adjustment

cd ba
make ba
./ba --bal_file ../sequences/fr1xyz.txt

For more options

./ba --help

Running SLAM

cd ba
make slam
./slam --bal_file ../sequences/fr2robot2.txt 

Citation

If you find our work useful in your research, please consider citing:

@InProceedings{OrtizCVPR2020,
author = {Ortiz, Joseph and Pupilli, Mark and Leutenegger, Stefan and Davison, Andrew J.},
title = {Bundle Adjustment on a Graph Processor},
booktitle = {{Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
year = {2020}
}