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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 12
3749-3754

Research on ORB-SLAM3 mapping algorithm for edge computing offloading strategy

Zhang Jie
Dang Shuwen
Chen Li
College of Air Transport, Shanghai University of Engineering Science, Shanghai 201600, China
DOI: 10.19734/j.issn.1001-3695.2024.05.0147

Abstract

To address the large amount of computational resources and high computational cost required in simultaneous localization and map construction(SLAM), as well as the significant consumption of computational resources during the map construction process of the ORB-SLAM system, this paper proposed a map construction algorithm based on an edge computation offloading strategy for ORB-SLAM3. Firstly, it introduced a dynamic programming algorithm to effectively filter a subset of key frames and construct a quantitative model to assess uncertainties in the map. It evaluated the uncertainty in the map using the constructed uncertainty quantization model. Then, it optimized the map by minimizing the Mahalanobis distance. Finally, it constructed the optimal local and global maps on the mobile device and the edge server, respectively. It conducted experiments using the TUM-RGB-D dataset. The results show that, compared with the traditional ORB-SLAM3 algorithm, the improved algorithm achieves higher accuracy in environments with fewer key frames, with localization accuracy improved by an average of 14.2%. Additionally, the improved algorithm has lower CPU usage, reducing it by an average of 20.7%. Therefore, it verifies the feasibility and effectiveness of the improved algorithm in constructing the optimal local and global maps under limited computational resources.

Foundation Support

国家自然科学基金资助项目(52175103)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.05.0147
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 12
Section: Algorithm Research & Explore
Pages: 3749-3754
Serial Number: 1001-3695(2024)12-030-3749-06

Publish History

[2024-09-09] Accepted Paper
[2024-12-05] Printed Article

Cite This Article

章杰, 党淑雯, 陈丽. 边缘计算卸载策略的ORB-SLAM3建图算法 [J]. 计算机应用研究, 2024, 41 (12): 3749-3754. (Zhang Jie, Dang Shuwen, Chen Li. Research on ORB-SLAM3 mapping algorithm for edge computing offloading strategy [J]. Application Research of Computers, 2024, 41 (12): 3749-3754. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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