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Edge computing is increasingly proposed as a solution for reducing resource consumption of mobile devices running simultaneous localization and mapping (SLAM) algorithms, with most edge-assisted SLAM systems assuming the communication resources between the mobile device and the edge server to be unlimited, or relying on heuristics to choose the information to be transmitted to the edge. This paper presents AdaptSLAM, an edge-assisted visual (V) and visual-inertial (VI) SLAM system that adapts to the available communication and computation resources, based on a theoretically grounded method we developed to select the subset of keyframes (the representative frames) for constructing the best local and global maps in the mobile device and the edge server under resource constraints. We implemented AdaptSLAM to work with the state-of-the-art open-source V-and VI-SLAM ORB-SLAM3 framework, and demonstrated that, under constrained network bandwidth, AdaptSLAM reduces the tracking error by 62% compared to the best baseline method.
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Coterie: Exploiting Frame Similarity to Enable High-Quality Multiplayer VR on Commodity Mobile Devices
In this paper, we study how to support high-quality immer- sive multiplayer VR on commodity mobile devices. First, we perform a scaling experiment that shows simply replicating the prior-art 2-layer distributed VR rendering architecture to multiple players cannot support more than one player due to the linear increase in network bandwidth requirement. Second, we propose to exploit the similarity of background environment (BE) frames to reduce the bandwidth needed for prefetching BE frames from the server, by caching and reusing similar frames. We nd that there is often little sim- ilarly between the BE frames of even adjacent locations in the virtual world due to a “near-object” e ect. We propose a novel technique that splits the rendering of BE frames between the mobile device and the server that drastically enhances the similarity of the BE frames and reduces the network load from frame caching. Evaluation of our imple- mentation on top of Unity and Google Daydream shows our new VR framework, Coterie, reduces per-player network requirement by 10.6X-25.7X and easily supports 4 players for high-resolution VR apps on Pixel 2 over 802.11ac, with 60 FPS and under 16ms responsiveness.
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- Award ID(s):
- 1719369
- PAR ID:
- 10159116
- Date Published:
- Journal Name:
- ASPLOS'20
- Page Range / eLocation ID:
- 923 to 937
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1145/3373376.3378516
