Figure2
![Parallel implementation for real-time visual SLAM systems based on heterogeneous computing](https://image.oaes.cc/8983c097-e6e7-4e2a-ab70-951a0375486d/ir4017.fig.2.jpg)
Figure 2. The process of parallel algorithm. (A) The parallel algorithm for feature extraction and matching; (B) The parallel algorithm for optimization. CPU: Central processing unit; GPU: graphic processing unit.
Figure 2. The process of parallel algorithm. (A) The parallel algorithm for feature extraction and matching; (B) The parallel algorithm for optimization. CPU: Central processing unit; GPU: graphic processing unit.
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