相关论文: AdaptSLAM: Edge-Assisted Adaptive SLAM with Resour…

Big data, including applications with high security requirements, are often collected and stored on multiple heterogeneous devices, such as mobile devices, drones and vehicles. Due to the limitations of communication costs and security…

Optimizing Deep Learning-based Simultaneous Localization and Mapping (DL-SLAM) algorithms is essential for efficient implementation on resource-constrained embedded platforms, enabling real-time on-board computation in autonomous mobile…

Multimodal large language models (MLLMs) demonstrate exceptional capabilities in semantic understanding and visual reasoning, yet they still face challenges in precise object localization and resource-constrained edge-cloud deployment. To…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

Recently, the Edge Computing paradigm has gained significant popularity both in industry and academia. Researchers now increasingly target to improve performance and reduce energy consumption of such devices. Some recent efforts focus on…

We introduce EC-SLAM, a real-time dense RGB-D simultaneous localization and mapping (SLAM) system leveraging Neural Radiance Fields (NeRF). While recent NeRF-based SLAM systems have shown promising results, they have yet to fully exploit…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

Deep learning has shown impressive performance in semantic segmentation, but it is still unaffordable for resource-constrained mobile devices. While offloading computation tasks is promising, the high traffic demands overwhelm the limited…

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…

To enhance the quality and speed of data processing and protect the privacy and security of the data, edge computing has been extensively applied to support data-intensive intelligent processing services at edge. Among these data-intensive…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…

Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…

In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…

Language-aligned vision foundation models (VFMs) enable versatile visual understanding for always-on contextual AI, but their deployment on edge devices is hindered by strict latency and power constraints. We present AdaVFM, an adaptive…

Multi-access edge computing provides localized resources within mobile networks to address the requirements of emerging latency-sensitive and computing-intensive applications. At the edge, dynamic requests necessitate sophisticated resource…

The advantage of computational resources in edge computing near the data source has kindled growing interest in delay-sensitive Internet of Things (IoT) applications. However, the benefit of the edge server is limited by the uploading and…

We propose a collaborative edge-to-server inference framework for vision-language models (VLMs) that reduces the communication cost while maintaining inference accuracy. In typical deployments, visual data captured at edge devices (clients)…

Vision-Language Models (VLMs) enable multimodal reasoning for robotic perception and interaction, but their deployment in real-world systems remains constrained by latency, limited onboard resources, and privacy risks of cloud offloading.…

Autonomous systems deployed on edge devices face significant challenges, including resource constraints, real-time processing demands, and adapting to dynamic environments. This work introduces ATLASv2, a novel system that integrates a…