追跡翻訳の迷宮：人間中心XR・IoTエコシステムにおける視覚SLAMの包括的分析
Lost in Tracking Translation: A Comprehensive Analysis of Visual SLAM in Human-Centered XR and IoT Ecosystems
様々なIoT/XRアプリケーション（自動運転車、ドローン、人間など）で最先端の視覚SLAM追跡アルゴリズムを評価し、アプリケーションやシナリオをまたいで汎用的に機能するアルゴリズムが存在しないことを示した上で、性能改善のアプローチを議論した。
著者: Yasra Chandio, Khotso Selialia, Joseph DeGol, Luis Garcia, Fatima M. Anwar
分類: cs.RO, cs.CV
原文アブストラクト
Advancements in tracking algorithms have empowered nascent applications across various domains, from steering autonomous vehicles to guiding robots to enhancing augmented reality experiences for users. However, these algorithms are application-specific and do not work across applications with different types of motion; even a tracking algorithm designed for a given application does not work in scenarios deviating from highly standard conditions. For example, a tracking algorithm designed for robot navigation inside a building will not work for tracking the same robot in an outdoor environment. To demonstrate this problem, we evaluate the performance of the state-of-the-art tracking methods across various applications and scenarios. To inform our analysis, we first categorize algorithmic, environmental, and locomotion-related challenges faced by tracking algorithms. We quantitatively evaluate the performance using multiple tracking algorithms and representative datasets for a wide range of Internet of Things (IoT) and Extended Reality (XR) applications, including autonomous vehicles, drones, and humans. Our analysis shows that no tracking algorithm works across different applications and scenarios within applications. Ultimately, using the insights generated from our analysis, we discuss multiple approaches to improving the tracking performance using input data characterization, leveraging intermediate information, and output evaluation.
