A survey on real-time 3D scene reconstruction with SLAM methods in embedded systems

Abstract: The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D reconstruction based on meshes and voxels is particularly useful for high-level functions, like obstacle avoidance or interaction with the physical environment. This article reviews the implementation of a visual-based 3D scene reconstruction pipeline on resource-constrained hardware platforms. Real-time performances, memory management and low power consumption are critical for embedded systems. A conventional SLAM pipeline from sensors to 3D reconstruction is described, including the potential use of deep learning. The implementation of advanced functions with limited resources is detailed. Recent systems propose the embedded implementation of 3D reconstruction methods with different granularities. The trade-off between required accuracy and resource consumption for real-time localization and reconstruction is one of the open research questions identified and discussed in this paper.