TY - GEN
T1 - Circular Frame Buffer to Enhance Map Synchronization in Edge Assisted SLAM
AU - Hofer, Johannes
AU - Sossalla, Peter
AU - Rischke, Justus
AU - Vielhaus, Christian L.
AU - Reisslein, Martin
AU - Fitzek, Frank H.P.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Visual Simultaneous Localization and Mapping (SLAM) systems have their numerous applications in robotics and autonomous driving. Computational offloading enables the computationally demanding Visual SLAM systems to run on hardware-constrained mobile devices, such as Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs). The offloading of SLAM modules to a central server also enables cooperative collaboration between multiple mobile devices. In this paper, we investigate the process of map synchronization between the edge and mobile devices in edge assisted SLAM systems. Due to the condition of uninterrupted execution, it is necessary that the map synchronization can be executed in the running process without losing the localization on the mobile device. Using a state-of-the-art edge assisted SLAM system, we investigate the influences of the movement speed as well as the network latency on the map synchronization and the resulting success ratio of the tracking continuation. By introducing a frame buffer on the mobile device, we have managed to compensate for the negative effect of the synchronization delay and thus increase reliability by up to 37%.
AB - Visual Simultaneous Localization and Mapping (SLAM) systems have their numerous applications in robotics and autonomous driving. Computational offloading enables the computationally demanding Visual SLAM systems to run on hardware-constrained mobile devices, such as Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs). The offloading of SLAM modules to a central server also enables cooperative collaboration between multiple mobile devices. In this paper, we investigate the process of map synchronization between the edge and mobile devices in edge assisted SLAM systems. Due to the condition of uninterrupted execution, it is necessary that the map synchronization can be executed in the running process without losing the localization on the mobile device. Using a state-of-the-art edge assisted SLAM system, we investigate the influences of the movement speed as well as the network latency on the map synchronization and the resulting success ratio of the tracking continuation. By introducing a frame buffer on the mobile device, we have managed to compensate for the negative effect of the synchronization delay and thus increase reliability by up to 37%.
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U2 - 10.1109/ICC45041.2023.10278556
DO - 10.1109/ICC45041.2023.10278556
M3 - Conference contribution
AN - SCOPUS:85165715114
T3 - IEEE International Conference on Communications
SP - 210
EP - 215
BT - ICC 2023 - IEEE International Conference on Communications
A2 - Zorzi, Michele
A2 - Tao, Meixia
A2 - Saad, Walid
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Communications, ICC 2023
Y2 - 28 May 2023 through 1 June 2023
ER -