Algorithmic Performance-Accuracy Trade-off in 3D Vision Applications

Bruno Bodin, Luigi Nardi, Harry Wagstaff, Paul H. J. Kelly, Michael O'Boyle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Simultaneous Localisation And Mapping (SLAM) is a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic comparison of their capabilities. This is particularly true when it comes to evaluate the potential trade-offs between computation speed, accuracy, and power consumption. SLAMBench is a benchmarking framework to evaluate existing and future SLAM systems, both open and closed source, over an extensible list of datasets, while using a comparable and clearly specified list of performance metrics. SLAMBench is a publicly-available software framework which represents a starting point for quantitative, comparable and validatable experimental research to investigate trade-offs in performance, accuracy and energy consumption across SLAM systems. In this poster we give an overview of SLAMBench and in particular we show how this framework can be used within Design Space Exploration and large-scale performance evaluation on mobile phones.
Original languageEnglish
Title of host publication2018 IEEE International Symposium on Performance Analysis of Systems and Software
Place of PublicationBelfast, UK
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages123-124
Number of pages2
ISBN (Electronic)978-1-5386-5010-3
ISBN (Print)978-1-5386-5011-0
DOIs
Publication statusPublished - 2018
Event2018 IEEE International Symposium on Performance Analysis of Systems and Software - Queen's University, Belfast, United Kingdom
Duration: 2 Apr 20184 Apr 2018
http://www.ispass.org/ispass2018/

Conference

Conference2018 IEEE International Symposium on Performance Analysis of Systems and Software
Abbreviated titleISPASS 2018
CountryUnited Kingdom
CityBelfast
Period2/04/184/04/18
Internet address

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