# Improving Efficiency of DNN-based Relocalization Module for Autonomous Driving with Server-side Computing

arXiv: https://arxiv.org/abs/2312.00316 · HTML: https://mlsanity.com/paper/2312.00316/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 19 of its 40 references that are in the map.
- First posted on arXiv 1 Dec 2023.

## Builds on (most cited first, 19 of 19)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [Particular object retrieval with integral max-pooling of CNN activations](https://mlsanity.com/paper/1511.05879/) (2015)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://mlsanity.com/paper/1509.05909/) (2015)
- [Camera Relocalization by Computing Pairwise Relative Poses Using Convolutional Neural Network](https://mlsanity.com/paper/1707.09733/) (2017)
- [Lifelong Federated Reinforcement Learning: A Learning Architecture for Navigation in Cloud Robotic Systems](https://mlsanity.com/paper/1901.06455/) (2019)
- [Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense](https://mlsanity.com/paper/1909.01507/) (2019)
- [Deep Auxiliary Learning for Visual Localization and Odometry](https://mlsanity.com/paper/1803.03642/) (2018)
- [Federated Imitation Learning: A Novel Framework for Cloud Robotic Systems with Heterogeneous Sensor Data](https://mlsanity.com/paper/1912.12204/) (2019)
- [RobustLoc: Robust Camera Pose Regression in Challenging Driving Environments](https://mlsanity.com/paper/2211.11238/) (2022)
- [Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems](https://mlsanity.com/paper/2010.08303/) (2020)
- [AuthROS: Secure Data Sharing Among Robot Operating Systems Based on Ethereum](https://mlsanity.com/paper/2208.14269/) (2022)
- [AdaptSLAM: Edge-Assisted Adaptive SLAM with Resource Constraints via Uncertainty Minimization](https://mlsanity.com/paper/2301.04620/) (2023)
- [Edge Robotics: Edge-Computing-Accelerated Multi-Robot Simultaneous Localization and Mapping](https://mlsanity.com/paper/2112.13222/) (2021)
- [Fast and Lightweight Scene Regressor for Camera Relocalization](https://mlsanity.com/paper/2212.01830/) (2022)
- [Incremental cycle bases for cycle-based pose graph optimization](https://mlsanity.com/paper/2209.07626/) (2022)

## Abstract (arXiv)

In this work, we present a novel framework for camera relocation in autonomous vehicles, leveraging deep neural networks (DNN). While existing literature offers various DNN-based camera relocation methods, their deployment is hindered by their high computational demands during inference. In contrast, our approach addresses this challenge through edge cloud collaboration. Specifically, we strategically offload certain modules of the neural network to the server and evaluate the inference time of data frames under different network segmentation schemes to guide our offloading decisions. Our findings highlight the vital role of server-side offloading in DNN-based camera relocation for autonomous vehicles, and we also discuss the results of data fusion. Finally, we validate the effectiveness of our proposed framework through experimental evaluation.