Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM

by   Yipu Zhao, et al.

The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical characteristic of resource-limited applications. While hardware and algorithm advances have been significantly improved the cost-efficiency of VSLAM front-ends, the cost-efficiency of VSLAM back-ends remains a bottleneck. This paper describes a novel, rigorous method to improve the cost-efficiency of local BA in a BA-based VSLAM back-end. An efficient algorithm, called Good Graph, is developed to select size-reduced graphs optimized in local BA with condition preservation. To better suit BA-based VSLAM back-ends, the Good Graph predicts future estimation needs, dynamically assigns an appropriate size budget, and selects a condition-maximized subgraph for BA estimation. Evaluations are conducted on two scenarios: 1) VSLAM as standalone process, and 2) VSLAM as part of closed-loop navigation system. Results from the first scenario show Good Graph improves accuracy and robustness of VSLAM estimation, when computational limits exist. Results from the second scenario, indicate that Good Graph benefits the trajectory tracking performance of VSLAM-based closed-loop navigation systems, which is a primary application of VSLAM.


page 1

page 17

page 18

page 20


Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy

Visual-inertial SLAM is essential for robot navigation in GPS-denied env...

Fast and Robust Initialization for Visual-Inertial SLAM

Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the...

RISE-SLAM: A Resource-aware Inverse Schmidt Estimator for SLAM

In this paper, we present the RISE-SLAM algorithm for performing visual-...

VITAMIN-E: VIsual Tracking And MappINg with Extremely Dense Feature Points

In this paper, we propose a novel indirect monocular SLAM algorithm call...

Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation

This paper describes an application of the Cartographer graph SLAM stack...

Map Point Selection for Visual SLAM

Simultaneous localisation and mapping (SLAM) play a vital role in autono...

Please sign up or login with your details

Forgot password? Click here to reset