{"id":"https://openalex.org/W4386260654","doi":"https://doi.org/10.1109/infocom53939.2023.10229009","title":"AdaptSLAM: Edge-Assisted Adaptive SLAM with Resource Constraints via Uncertainty Minimization","display_name":"AdaptSLAM: Edge-Assisted Adaptive SLAM with Resource Constraints via Uncertainty Minimization","publication_year":2023,"publication_date":"2023-05-17","ids":{"openalex":"https://openalex.org/W4386260654","doi":"https://doi.org/10.1109/infocom53939.2023.10229009"},"language":"en","primary_location":{"id":"doi:10.1109/infocom53939.2023.10229009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/infocom53939.2023.10229009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE INFOCOM 2023 - IEEE Conference on Computer Communications","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100383032","display_name":"Ying Chen","orcid":"https://orcid.org/0000-0002-0844-0882"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ying Chen","raw_affiliation_strings":["Duke University,Durham,NC","Duke University, Durham, NC"],"affiliations":[{"raw_affiliation_string":"Duke University,Durham,NC","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Duke University, Durham, NC","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041857227","display_name":"Hazer \u0130naltekin","orcid":"https://orcid.org/0000-0003-0147-4403"},"institutions":[{"id":"https://openalex.org/I99043593","display_name":"Macquarie University","ror":"https://ror.org/01sf06y89","country_code":"AU","type":"education","lineage":["https://openalex.org/I99043593"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hazer Inaltekin","raw_affiliation_strings":["Macquarie University,North Ryde,NSW,Australia","Macquarie University, North Ryde, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Macquarie University,North Ryde,NSW,Australia","institution_ids":["https://openalex.org/I99043593"]},{"raw_affiliation_string":"Macquarie University, North Ryde, NSW, Australia","institution_ids":["https://openalex.org/I99043593"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036726336","display_name":"Maria Gorlatova","orcid":"https://orcid.org/0000-0002-5477-7830"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria Gorlatova","raw_affiliation_strings":["Duke University,Durham,NC","Duke University, Durham, NC"],"affiliations":[{"raw_affiliation_string":"Duke University,Durham,NC","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Duke University, Durham, NC","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100383032"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":16.7971,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99244148,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8075343370437622},{"id":"https://openalex.org/keywords/mobile-edge-computing","display_name":"Mobile edge computing","score":0.6994493007659912},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.6607534289360046},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6580725312232971},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.6274796724319458},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5590615272521973},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.44925129413604736},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.44902077317237854},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4473516047000885},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4366166591644287},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4110099673271179},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39920032024383545},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3955117166042328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37251725792884827},{"id":"https://openalex.org/keywords/computer-engineering","display_name":"Computer engineering","score":0.3442264199256897},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.26113361120224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24347448348999023}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8075343370437622},{"id":"https://openalex.org/C2776061582","wikidata":"https://www.wikidata.org/wiki/Q25325231","display_name":"Mobile edge computing","level":3,"score":0.6994493007659912},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.6607534289360046},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6580725312232971},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.6274796724319458},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5590615272521973},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.44925129413604736},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.44902077317237854},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4473516047000885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4366166591644287},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4110099673271179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39920032024383545},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3955117166042328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37251725792884827},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.3442264199256897},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.26113361120224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24347448348999023},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/infocom53939.2023.10229009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/infocom53939.2023.10229009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE INFOCOM 2023 - IEEE Conference on Computer Communications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1680189815","https://openalex.org/W1989838848","https://openalex.org/W2037971631","https://openalex.org/W2049750053","https://openalex.org/W2105638603","https://openalex.org/W2151290401","https://openalex.org/W2151870994","https://openalex.org/W2218671919","https://openalex.org/W2396274919","https://openalex.org/W2408654640","https://openalex.org/W2418223327","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2507174453","https://openalex.org/W2535547924","https://openalex.org/W2564085365","https://openalex.org/W2592313125","https://openalex.org/W2745859992","https://openalex.org/W2797395780","https://openalex.org/W2797589308","https://openalex.org/W2803770871","https://openalex.org/W2889355157","https://openalex.org/W2893937188","https://openalex.org/W2894187248","https://openalex.org/W2899887623","https://openalex.org/W2906636743","https://openalex.org/W2909157769","https://openalex.org/W2912678658","https://openalex.org/W2951395768","https://openalex.org/W3004281301","https://openalex.org/W3043971245","https://openalex.org/W3047014196","https://openalex.org/W3098486636","https://openalex.org/W3102327032","https://openalex.org/W3118576301","https://openalex.org/W3124420883","https://openalex.org/W3127605436","https://openalex.org/W3129445845","https://openalex.org/W3174711445","https://openalex.org/W4200233657","https://openalex.org/W4206261585","https://openalex.org/W4226446010","https://openalex.org/W4283662696","https://openalex.org/W4295886237","https://openalex.org/W4300031234","https://openalex.org/W4301807748","https://openalex.org/W4312258136","https://openalex.org/W4386260654","https://openalex.org/W6734247149","https://openalex.org/W6754523108","https://openalex.org/W6755134766","https://openalex.org/W6790592579","https://openalex.org/W6797805740","https://openalex.org/W6843011535","https://openalex.org/W6849211449"],"related_works":["https://openalex.org/W4361251304","https://openalex.org/W3024547383","https://openalex.org/W4210813012","https://openalex.org/W3174690704","https://openalex.org/W2968424451","https://openalex.org/W4221092438","https://openalex.org/W4385335479","https://openalex.org/W2905685817","https://openalex.org/W2730940305","https://openalex.org/W4207020266"],"abstract_inverted_index":{"Edge":[0],"computing":[1],"is":[2],"increasingly":[3],"proposed":[4],"as":[5],"a":[6,80],"solution":[7],"for":[8,95],"reducing":[9],"resource":[10,112],"consumption":[11],"of":[12,90],"mobile":[13,33,105],"devices":[14],"running":[15],"simultaneous":[16],"localization":[17],"and":[18,35,64,75,100,107,127],"mapping":[19],"(SLAM)":[20],"algorithms,":[21],"with":[22,119],"most":[23],"edge-assisted":[24,61],"SLAM":[25,67],"systems":[26],"assuming":[27],"the":[28,32,36,48,54,72,88,97,104,108,120,136,143],"communication":[29,74],"resources":[30],"between":[31],"device":[34,106],"edge":[37,109],"server":[38,110],"to":[39,46,50,53,71,86,117,142],"be":[40,51],"unlimited,":[41],"or":[42],"relying":[43],"on":[44,79],"heuristics":[45],"choose":[47],"information":[49],"transmitted":[52],"edge.":[55],"This":[56],"paper":[57],"presents":[58],"AdaptSLAM,":[59],"an":[60],"visual":[62],"(V)":[63],"visual-inertial":[65],"(VI)":[66],"system":[68],"that":[69],"adapts":[70],"available":[73],"computation":[76],"resources,":[77],"based":[78],"theoretically":[81],"grounded":[82],"method":[83],"we":[84],"developed":[85],"select":[87],"subset":[89],"keyframes":[91],"(the":[92],"representative":[93],"frames)":[94],"constructing":[96],"best":[98,144],"local":[99],"global":[101],"maps":[102],"in":[103],"under":[111,130],"constraints.":[113],"We":[114],"implemented":[115],"AdaptSLAM":[116,134],"work":[118],"state-of-the-art":[121],"open-source":[122],"V-and":[123],"VI-SLAM":[124],"ORB-SLAM3":[125],"framework,":[126],"demonstrated":[128],"that,":[129],"constrained":[131],"network":[132],"bandwidth,":[133],"reduces":[135],"tracking":[137],"error":[138],"by":[139],"62%":[140],"compared":[141],"baseline":[145],"method.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
