Demo Abstract: Demonstrating Resource-Efficient SLAM in Virtual Spacecraft Environments.

The performance of simultaneous localization and mapping (SLAM) systems is impacted by the constrained computation capabilities of mobile devices. Given that the advancement of these systems relies on accurate evaluation of SLAM performance, this issue is exacerbated by the difficulty in evaluating SLAM performance in practice, due to the unavailability of ground truth data. In this demo, we present SpacecraftWalk, a resource-efficient SLAM framework that constructs maps (of the environments) with minimal uncertainty under resource budgets. SpacecraftWalk is evaluated within virtual spacecraft environments (meeting NASA lighting standards) in game engine-based emulators that generate ground truth automatically. Demo participants will navigate in virtual environments while creating their own moving trajectories for evaluating SLAM. They will develop an intuition for how uncertainty-based map construction improves resource efficiency. This demonstration accompanies [1].