Evaluating SLAM based Scene Construction for Resource-Constrained Platforms

Evaluating SLAM based Scene Construction for Resource-Constrained Platforms | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Evaluating SLAM based Scene Construction for Resource-Constrained Platforms Venkatraman K, Abhay Nanduri, Sai Sruthik Reddy D This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6416563/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous navigation across diverse environments, including indoor, outdoor, and industrial settings. However, implementing SLAM on low-end systems presents significant challenges due to computational constraints, sensor limitations, and real-time processing requirements. This paper evaluates various SLAM methodologies with a focus on their feasibility for resource-constrained platforms. Specifically, we analyze the trade-offs between accuracy, computational efficiency, and hardware requirements, comparing geometric SLAM approaches with modern semantic-based and sensor fusion techniques. . Experimental results using benchmark datasets demonstrate the impact of algorithmic optimizations and sensor fusion strategies on SLAM performance in low-end systems. Our findings provide insights into selecting and optimizing SLAM algorithms for real-world applications where computational resources are limited. Physical sciences/Mathematics and computing/Computer science Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Engineering/Mechanical engineering SLAM low-end systems autonomous navigation sensor fusion computational efficiency real-time localization semantic mapping robotics benchmark evaluation. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6416563","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":451716512,"identity":"5009a1b7-e828-4e05-84e2-e9b9a1013b9d","order_by":0,"name":"Venkatraman K","email":"","orcid":"","institution":"Amrita Vishwa Vidyapeetham University","correspondingAuthor":false,"prefix":"","firstName":"Venkatraman","middleName":"","lastName":"K","suffix":""},{"id":451716515,"identity":"fdc884f5-c01d-4b23-b1ff-66ff5cb2a128","order_by":1,"name":"Abhay Nanduri","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA4ElEQVRIiWNgGAWjYFAC5uM/PhiwyfGD2AkFRGlhS5CcUcBnLNkA0mJAlBYeA2meD3KJBgdAHGK08M9uMDDmMTBLMD6/OvHDAwMGeX6xA/i1SNw5kJA4xyAtz+zG280SQIcZzpydQMCaGwkHDrwxOFZsduPsBpCWBIPbBLTI30hsbOAx+J+4ecbZzT+I0mJwI5mZkceALXEDf+824mwxvHOMjXGGAZuxxA3ebRYJBhKE/SJ3u/8bw4c/wKjsP7v55o8KG3l+aQJaGCTgjAQULjFa+A8QoXoUjIJRMApGJAAAGHpHq+l0KeMAAAAASUVORK5CYII=","orcid":"","institution":"Amrita Vishwa Vidyapeetham University","correspondingAuthor":true,"prefix":"","firstName":"Abhay","middleName":"","lastName":"Nanduri","suffix":""},{"id":451716516,"identity":"b0147e51-b215-4ec6-bf26-8c7c9427fa75","order_by":2,"name":"Sai Sruthik Reddy D","email":"","orcid":"","institution":"Amrita Vishwa Vidyapeetham University","correspondingAuthor":false,"prefix":"","firstName":"Sai","middleName":"Sruthik Reddy","lastName":"D","suffix":""}],"badges":[],"createdAt":"2025-04-10 05:23:26","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6416563/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6416563/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":92918154,"identity":"35aac6a0-16e7-4dba-a835-3b816fc08a79","added_by":"auto","created_at":"2025-10-07 06:09:07","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":357199,"visible":true,"origin":"","legend":"","description":"","filename":"SLAM2025revised1.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6416563/v1_covered_2a2434dd-17aa-4926-b08c-57d3a0301345.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Evaluating SLAM based Scene Construction for Resource-Constrained Platforms","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"SLAM, low-end systems, autonomous navigation, sensor fusion, computational efficiency, real-time localization, semantic mapping, robotics, benchmark evaluation.","lastPublishedDoi":"10.21203/rs.3.rs-6416563/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6416563/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eSimultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous navigation across diverse environments, including indoor, outdoor, and industrial settings. 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