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Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping

Published:29 October 2022Publication History
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Abstract

Localization in urban environments is becoming increasingly important and used in tools such as ARCore [18], ARKit [34] and others. One popular mechanism to achieve accurate indoor localization and a map of the space is using Visual Simultaneous Localization and Mapping (Visual-SLAM). However, Visual-SLAM is known to be resource-intensive in memory and processing time. Furthermore, some of the operations grow in complexity over time, making it challenging to run on mobile devices continuously. Edge computing provides additional compute and memory resources to mobile devices to allow offloading tasks without the large latencies seen when offloading to the cloud.

In this article, we present Edge-SLAM, a system that uses edge computing resources to offload parts of Visual-SLAM. We use ORB-SLAM2 [50] as a prototypical Visual-SLAM system and modify it to a split architecture between the edge and the mobile device. We keep the tracking computation on the mobile device and move the rest of the computation, i.e., local mapping and loop closing, to the edge. We describe the design choices in this effort and implement them in our prototype. Our results show that our split architecture can allow the functioning of the Visual-SLAM system long-term with limited resources without affecting the accuracy of operation. It also keeps the computation and memory cost on the mobile device constant, which would allow for the deployment of other end applications that use Visual-SLAM. We perform a detailed performance and resources use (CPU, memory, network, and power) analysis to fully understand the effect of our proposed split architecture.

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                    cover image ACM Transactions on Embedded Computing Systems
                    ACM Transactions on Embedded Computing Systems  Volume 22, Issue 1
                    January 2023
                    512 pages
                    ISSN:1539-9087
                    EISSN:1558-3465
                    DOI:10.1145/3567467
                    • Editor:
                    • Tulika Mitra
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                    Publication History

                    • Published: 29 October 2022
                    • Online AM: 12 September 2022
                    • Revised: 13 August 2022
                    • Accepted: 13 August 2022
                    • Received: 7 December 2021
                    Published in tecs Volume 22, Issue 1

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