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Simultaneous Localization and Mapping is a critical component in Augmented Reality applications with Smart eyewear devices. Despite advances in visual SLAM, recent research has prioritized precision over efficiency. Our work emphasizes the efficiency-accuracy trade-off in a particular SLAM system, namely ORB-SLAM3. By testing different sensor setups and configurations, we found the stereo-inertial setup to be the best choice for the trade-off. Furthermore, we propose a resource-aware modification to ORB-SLAM3, scaling Bundle Adjustment complexity based on computation time, enhancing real-time performance without a significant accuracy loss. And additionally, in some cases it resulted even in an increase of accuracy, opening new promising directions for Bundle Adjustment optimization.

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Towards Resource-Aware Visual Inertial SLAM

  • 会议论文

  • 发表日期：

    2025年

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  • Giovanni Affatato,
  • Marco Paracchini,
  • Francesca Palermo,
  • Diana Trojaniello,
  • Tommaso Ongarello,
  • Marco Marcon,
  • Stefano Tubaro

摘要

Simultaneous Localization and Mapping is a critical component in Augmented Reality applications with Smart eyewear devices. Despite advances in visual SLAM, recent research has prioritized precision over efficiency. Our work emphasizes the efficiency-accuracy trade-off in a particular SLAM system, namely ORB-SLAM3. By testing different sensor setups and configurations, we found the stereo-inertial setup to be the best choice for the trade-off. Furthermore, we propose a resource-aware modification to ORB-SLAM3, scaling Bundle Adjustment complexity based on computation time, enhancing real-time performance without a significant accuracy loss. And additionally, in some cases it resulted even in an increase of accuracy, opening new promising directions for Bundle Adjustment optimization.