Related papers: AdaptSLAM: Edge-Assisted Adaptive SLAM with Resour…
Data stream processing is an increasingly important topic due to the prevalence of smart devices and the demand for real-time analytics. Geo-distributed streaming systems, where cloud-based queries utilize data streams from multiple…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
This article describes a new approach for distributed 3D SLAM map building. The key contribution of this article is the creation of a distributed graph-SLAM map-building architecture responsive to bandwidth and computational needs of the…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Efficient adaption of large language models (LLMs) on edge devices is essential for applications requiring continuous and privacy-preserving adaptation and inference. However, existing tuning techniques fall short because of the high…
As the video streaming traffic in mobile networks is increasing, improving the content delivery process becomes crucial, e.g., by utilizing edge computing support. At an edge node, we can deploy adaptive bitrate (ABR) algorithms with a…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
Low-Latency IoT applications such as autonomous vehicles, augmented/virtual reality devices and security applications require high computation resources to make decisions on the fly. However, these kinds of applications cannot tolerate…
While large deep neural networks excel at general video analytics tasks, the significant demand on computing capacity makes them infeasible for real-time inference on resource-constrained end cam-eras. In this paper, we propose an…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…
Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
In the edge computing paradigm, mobile devices offload the computational tasks to an edge server by routing the required data over the wireless network. The full potential of edge computing becomes realized only if a smart device selects…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
Pervasive mobile AI applications primarily employ one of the two learning paradigms: cloud-based learning (with powerful large models) or on-device learning (with lightweight small models). Despite their own advantages, neither paradigm can…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…
The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…
Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM…