Distributed Client-Server Optimization for SLAM with Limited On-Device Resources
Yetong Zhang Ming Hsiao Yipu Zhao Jing Dong Jakob J. Engel Yetong Zhang Ming Hsiao Yipu Zhao Jing Dong Jakob J. Engel
Simultaneous localization and mapping (SLAM) is a crucial functionality for exploration robots and virtual/augmented reality (VR/AR) devices. However, some of such devices with limited resources cannot afford the computational or memory cost to run full SLAM algorithms. We propose a general client-server SLAM optimization framework that achieves accurate real-time state estimation on the device wi...