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Syst."],"published-print":{"date-parts":[[2025,1,31]]},"abstract":"<jats:p>\n            Visual SLAM systems are concurrent, performance-critical systems that respond to real-time environmental conditions and are frequently deployed on resource-constrained hardware. Previous work has identified three interconnected systems challenges to building consistent, accurate, and robust SLAM systems\u2014\n            <jats:italic>timeliness<\/jats:italic>\n            ,\n            <jats:italic>concurrency<\/jats:italic>\n            , and\n            <jats:italic>context awareness<\/jats:italic>\n            . In this article, we analyze three popular, state-of-the-art frameworks with varying system designs and optimization techniques, and we quantify the extent to which they are affected by the aforementioned system challenges. We find that all SLAM systems must balance the interconnected nature of\n            <jats:italic>timeliness<\/jats:italic>\n            and accuracy, and different system designs and optimization techniques uniquely address this tension. Global-map-based SLAM systems typically achieve the best performance but suffer in resource-constrained scenarios with increased\n            <jats:italic>concurrency<\/jats:italic>\n            . Across all SLAM systems, incorporating\n            <jats:italic>context awareness<\/jats:italic>\n            into decision-making would mitigate the impact of timeliness and concurrency on accuracy in resource-constrained scenarios.\n          <\/jats:p>","DOI":"10.1145\/3677317","type":"journal-article","created":{"date-parts":[[2024,8,3]],"date-time":"2024-08-03T11:14:58Z","timestamp":1722683698000},"page":"1-31","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["A Comprehensive Study of Systems Challenges in Visual Simultaneous Localization and Mapping Systems"],"prefix":"10.1145","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8048-1489","authenticated-orcid":false,"given":"Sofiya","family":"Semenova","sequence":"first","affiliation":[{"name":"Computer Science and Engineering, University at Buffalo, Buffalo, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3771-0156","authenticated-orcid":false,"given":"Steven","family":"Ko","sequence":"additional","affiliation":[{"name":"Computing Science, Simon Fraser University, Burnaby, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2768-3898","authenticated-orcid":false,"given":"Yu David","family":"Liu","sequence":"additional","affiliation":[{"name":"Computer Science, SUNY Binghamton, Binghamton, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4353-1998","authenticated-orcid":false,"given":"Lukasz","family":"Ziarek","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, University at Buffalo, Buffalo, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7497-6722","authenticated-orcid":false,"given":"Karthik","family":"Dantu","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, University at Buffalo, Buffalo, United States"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2024,9,27]]},"reference":[{"key":"e_1_3_1_2_2","volume-title":"Optimal Filtering","author":"Anderson Brian D. 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