On Performance Portability Via Runtime Adaptation for VO/VSLAMs

Abstract

The development and use of Visual Simultaneous Localisation and Mapping (VSLAM) in many diverse navigation and vision applications has resulted in a wide variety of algorithmic implementations. Deploying these VSLAM implementations on energy-constrained platforms dictates balancing the target application performance objectives through the tuning of hyperparameters at runtime to ensure prolonged and robust operation. Balancing these performance objectives is difficult to achieve in a portable fashion due to the diverse settings in which different VSLAM implementations operate, leading to limited and over-fitted application-specific solutions. Further, balancing the performance objectives at runtime requires solutions that are lightweight and easy to maintain on existing and emerging VSLAM implementations.