High-Precision Edge-Assisted SLAM Systems: Error Profiling, Keyframe Selection and Resource Allocation

Yuanyuan Zhuang, Tong Bai, Yanchong Nie, Zhipeng Wang

Abstract:	Simultaneous Localization and Mapping(SLAM) has found widespread applications in autonomous driving, robotic vacuum cleaners and other domains. However, the optimization process in SLAM requires substantial computational resources, presenting a significant challenge for deployment on low-power devices, such as smartphones. Edge-Assisted SLAM(Edge SLAM) provides an effective solution to this problem by offloading computationally intensive tasks from mobile devices to servers. This offloading process alleviates the computational burden on the devices, enabling SLAM to run efficiently on lightweight devices. However, the impact of communication delays and server computation delays on SLAM positioning accuracy must be considered during the offloading process. This paper analyzes the effect of time delay on positioning accuracy and introduces an entropy-based keyframe selection method to mitigate this impacts. The improved keyframe selection strategy effectively reduces data transmission. Using the entropy method, the number of keyframes is reduced by approximately 20%, with minimal impact on positioning accuracy. Additionally, a functional relationship between communication bandwidth, CPU utilization, and positioning error is established. By optimizing communication bandwidth and CPU utilization through the Lagrange algorithm, time delays are reduced, and positioning error does not change significantly. Compared with ORB SLAM2, the optimized Edge SLAM reduces runtime by approximately 5%. Therefore, Edge SLAM demonstrates superior adaptability for deployment on portable devices.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	2031 - 2042
Cite this article:	Zhuang, Yuanyuan, Bai, Tong, Nie, Yanchong, Wang, Zhipeng, "High-Precision Edge-Assisted SLAM Systems: Error Profiling, Keyframe Selection and Resource Allocation," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 2031-2042. https://doi.org/10.33012/2025.20451
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