TY - GEN
T1 - A Quantitative Analysis of System Bottlenecks in Visual SLAM
AU - Semenova, Sofiya
AU - Ko, Steven Y.
AU - Liu, Yu David
AU - Ziarek, Lukasz
AU - Dantu, Karthik
N1 - Publisher Copyright:
© 2022 ACM.
PY - 2022/3/9
Y1 - 2022/3/9
N2 - Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous SLAM frameworks have primarily focused on algorithmic advances and their systems core has largely remained unchanged. In turn, SLAM systems suffer from performance problems that could be alleviated with improved systems design. In this paper, we present a quantitative analysis of the systems challenges to building consistent, accurate, and robust SLAM systems in the face of concurrency, variable environmental conditions, and resource-constrained hardware. We identify three interconnected challenges on systems design - - timeliness, concurrency, and context awareness - - and clarify their effects on performance.
AB - Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous SLAM frameworks have primarily focused on algorithmic advances and their systems core has largely remained unchanged. In turn, SLAM systems suffer from performance problems that could be alleviated with improved systems design. In this paper, we present a quantitative analysis of the systems challenges to building consistent, accurate, and robust SLAM systems in the face of concurrency, variable environmental conditions, and resource-constrained hardware. We identify three interconnected challenges on systems design - - timeliness, concurrency, and context awareness - - and clarify their effects on performance.
UR - https://www.scopus.com/pages/publications/85127576223
U2 - 10.1145/3508396.3512882
DO - 10.1145/3508396.3512882
M3 - Conference contribution
AN - SCOPUS:85127576223
T3 - HotMobile 2022 - Proceedings of the 23rd Annual International Workshop on Mobile Computing Systems and Applications
SP - 74
EP - 80
BT - HotMobile 2022 - Proceedings of the 23rd Annual International Workshop on Mobile Computing Systems and Applications
PB - Association for Computing Machinery, Inc
T2 - 23rd Annual International Workshop on Mobile Computing Systems and Applications, HotMobile 2022
Y2 - 9 March 2022 through 10 March 2022
ER -