Abstract
Simultaneous localization and mapping (SLAM) is one of the services running on an autonomous robot. It is typically run to assist other tasks such as planning, manipulation, etc. All these tasks are run on edge hardware and are subject to severe resource constraints. However, most SLAM systems are built and tested in isolation, and their performance is reported as if they are the only task running on a system. We observe that existing benchmarks lack a common mechanism for comparing SLAM systems under realistic resource constraints. To address this limitation, we have developed SLAMSqueezeBench, a framework that allows testing of SLAM systems under realistic workloads on edge hardware. It does so by imposing constraints on compute and memory resources available for the SLAM system during execution. It also simulates realistic camera frame acquisition with frame drops when a finite buffer is full. Using SLAMSqueezeBench, we compare nine SLAM systems spanning classical systems, learning-based systems, and approaches for Gaussian splatting. Our testing framework will be available for use by the community upon publication.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Hefny, M., Dantu, K., & Ko, S. Y. (2026). SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints. https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints
MLA 9
Hefny, Mohamed, et al. "SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints." https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints.
Chicago (author–date)
Hefny, Mohamed, Karthik Dantu, and Steven Y. Ko. 2026. "SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints." https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints.
Harvard
Hefny, M., Dantu, K. and Ko, S. Y. (2026) 'SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints', Available at: https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints.
Vancouver
Hefny M, Dantu K, Ko SY. SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints. https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints
IEEE
M. Hefny, K. Dantu, and S. Y. Ko, "SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints," https://omanscience.com/en/articles/slamsqueezebench-comparing-slam-systems-under-resource-constraints.