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Localization in urban environments is becoming increasingly important and used in tools such as ARCore [ 18 ], ARKit [ 34 ] and others. One popular mechanism to achieve accurate indoor localization and a map of the space is using Visual Simultaneous Localization and Mapping (Visual-SLAM). However, Visual-SLAM is known to be resource-intensive in memory and processing time. Furthermore, some of the operations grow in complexity over time, making it challenging to run on mobile devices continuously. Edge computing provides additional compute and memory resources to mobile devices to allow offloading tasks without the large latencies seen when offloading to the cloud. In this article, we present Edge-SLAM, a system that uses edge computing resources to offload parts of Visual-SLAM. We use ORB-SLAM2 [ 50 ] as a prototypical Visual-SLAM system and modify it to a split architecture between the edge and the mobile device. We keep the tracking computation on the mobile device and move the rest of the computation, i.e., local mapping and loop closing, to the edge. We describe the design choices in this effort and implement them in our prototype. Our results show that our split architecture can allow the functioning of the Visual-SLAM system long-term with limited resources without affecting the accuracy of operation. It also keeps the computation and memory cost on the mobile device constant, which would allow for the deployment of other end applications that use Visual-SLAM. We perform a detailed performance and resources use (CPU, memory, network, and power) analysis to fully understand the effect of our proposed split architecture. 

Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous SLAM frameworks have primarily focused on algorithmic advances and their systems core has largely remained unchanged. In turn, SLAM systems suffer from performance problems that could be alleviated with improved systems design. In this paper, we present a quantitative analysis of the systems challenges to building consistent, accurate, and robust SLAM systems in the face of concurrency, variable environmental conditions, and resource-constrained hardware. We identify three interconnected challenges on systems design --- timeliness, concurrency, and context awareness --- and clarify their effects on performance. 

Android applications rely heavily on strings for sensitive operations like reflection, access to system resources, URL connections, database access, among others. Thus, insight into application behavior can be gained through not only an analysis of what strings an application creates but also the structure of the computation used to create theses strings, and in what manner are these strings used. In this paper we introduce a static analysis of Android applications to discover strings, how they are created, and their usage. The output of our static analysis contains all of this information in the form of a graph which we call a string computation. We leverage the results to classify individual application behavior with respect to malicious or benign intent. Unlike previous work that has focused only on extraction of string values, our approach leverages the structure of the computation used to generate string values as features to perform classification of Android applications. That is, we use none of the static analysis computed string values, rather using only the graph structures of created strings to do classification of an arbitrary Android application as malware or benign. Our results show that leveraging string computation structures as features can yield precision and recall rates as high as 97% on modern malware. We also provide baseline results against other malware detection tools and techniques to classify the same corpus of applications.