Interactive RGB-D SLAM on Mobile Devices

In this paper we present a new RGB-D SLAM system specifically designed for mobile platforms. Though the basic approach has already been proposed, many relevant changes are required to suit a user-centered mobile environment. In particular, our implementation tackles the strict memory constraints and limited computational power of a typical tablet device, thus delivering interactive usability without hindering effectiveness. Real-time 3D reconstruction is achieved by projecting measurements from aligned RGB-D keyframes, so to provide the user with instant feedback. We analyze quantitatively the accuracy vs. speed trade-off of diverse variants of the proposed pipeline, we estimate the amount of memory required to run the application and we also provide qualitative results dealing with reconstructions of indoor environments.