Circular Frame Buffer to Enhance Map Synchronization in Edge Assisted SLAM

摘要

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%.