Application-oriented Design Space Exploration for SLAM Algorithms

Sajad  Saeedi; Luigi  Nardi; Edward  Johns; Bruno Bodin; Paul H. J.  Kelly; Andrew J Davison

doi:10.1109/ICRA.2017.7989673

Application-oriented Design Space Exploration for SLAM Algorithms

Sajad Saeedi, Luigi Nardi, Edward Johns, Bruno Bodin, Paul H. J. Kelly, Andrew J Davison

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers
Pages	5716-5723
Number of pages	8
ISBN (Electronic)	978-1-5090-4633-1
DOIs	https://doi.org/10.1109/ICRA.2017.7989673
Publication status	Published - 24 Jul 2017
Event	2017 IEEE International Conference on Robotics and Automation - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://www.icra2017.org/

Conference

Conference	2017 IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17
Internet address	http://www.icra2017.org/

Access to Document

10.1109/ICRA.2017.7989673

ICRA_2017Accepted author manuscript, 3.85 MB

http://ieeexplore.ieee.org/document/7989673/

PAMELA: a Panoramic Approach to the Many-CorE LAndsape - from end-user to end-device: a holistic game-changing approach
Topham, N. (Principal Investigator), Franke, B. (Co-investigator) & O'Boyle, M. (Co-investigator)
EPSRC
1/03/13 → 15/10/18
Project: Research

Cite this

@inproceedings{9ea6724d9da440569a879a91471a6e6d,

title = "Application-oriented Design Space Exploration for SLAM Algorithms",

abstract = "In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.",

author = "Sajad Saeedi and Luigi Nardi and Edward Johns and Bruno Bodin and Kelly, \{Paul H. J.\} and Davison, \{Andrew J\}",

year = "2017",

month = jul,

day = "24",

doi = "10.1109/ICRA.2017.7989673",

language = "English",

pages = "5716--5723",

booktitle = "2017 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

url = "http://www.icra2017.org/",

}

Saeedi, S, Nardi, L, Johns, E, Bodin, B, Kelly, PHJ & Davison, AJ 2017, Application-oriented Design Space Exploration for SLAM Algorithms. in 2017 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 5716-5723, 2017 IEEE International Conference on Robotics and Automation, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989673

TY - GEN

T1 - Application-oriented Design Space Exploration for SLAM Algorithms

AU - Saeedi, Sajad

AU - Nardi, Luigi

AU - Johns, Edward

AU - Bodin, Bruno

AU - Kelly, Paul H. J.

AU - Davison, Andrew J

PY - 2017/7/24

Y1 - 2017/7/24

N2 - In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.

AB - In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired performance metrics, suitable parameters are explored and determined. Additionally, based on the proposed structure and motion parameters, several applications are presented, including a novel active SLAM approach which guides the camera in such a way that the SLAM algorithm achieves the desired performance metrics. Real-world and simulated experimental results demonstrate the effectiveness of the proposed design space and its applications.

U2 - 10.1109/ICRA.2017.7989673

DO - 10.1109/ICRA.2017.7989673

M3 - Conference contribution

SP - 5716

EP - 5723

BT - 2017 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

T2 - 2017 IEEE International Conference on Robotics and Automation

Y2 - 29 May 2017 through 3 June 2017

ER -

Application-oriented Design Space Exploration for SLAM Algorithms

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Conference

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Projects

PAMELA: a Panoramic Approach to the Many-CorE LAndsape - from end-user to end-device: a holistic game-changing approach

Cite this