Mesh2SLAM in VR: A Fast Geometry-Based SLAM Framework for Rapid Prototyping in Virtual Reality Applications

TL;DR

This paper introduces Mesh2SLAM, a fast, geometry-based SLAM framework designed for rapid prototyping in VR, overcoming computational and sensor access limitations on resource-constrained devices.

Contribution

It presents a novel sparse, mesh geometry projection approach that enhances SLAM efficiency and enables testing without direct sensor data access in VR environments.

Findings

Improved SLAM efficiency in VR applications

Circumvents sensor data access restrictions

Demonstrated effectiveness through numerical evaluation

Abstract

SLAM is a foundational technique with broad applications in robotics and AR/VR. SLAM simulations evaluate new concepts, but testing on resource-constrained devices, such as VR HMDs, faces challenges: high computational cost and restricted sensor data access. This work proposes a sparse framework using mesh geometry projections as features, which improves efficiency and circumvents direct sensor data access, advancing SLAM research as we demonstrate in VR and through numerical evaluation.