arXiv subjects

Mohamed Hefny

Publications and source records attributed to Mohamed Hefny.

3 recordsLinked to original sources

arXiv2026

SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints

Simultaneous localization and mapping (SLAM) is one of the services running on an autonomous robot. It is typically run to assist other tasks such as planning, manipulation, etc. All these tasks are run on edge hardware and are subject to severe resource constraints. However, most SLAM systems are built and tested in isolation, and their performance is reported as if they are the only task running on a system. We observe that existing benchmarks lack a common mechanism for comparing SLAM systems under realistic resource constraints. To address this limitation, we have developed SLAMSqueezeBench, a framework that allows testing of SLAM systems under realistic workloads on edge hardware. It does so by imposing constraints on compute and memory resources available for the SLAM system during execution. It also simulates realistic camera frame acquisition with frame drops when a finite buffer is full. Using SLAMSqueezeBench, we compare nine SLAM systems spanning classical systems, learning-based systems, and approaches for Gaussian splatting. Our testing framework will be available for use by the community upon publication.

cs.RO↗

arXiv2026

SLAM Adversarial Lab: An Extensible Framework for Visual SLAM Robustness Evaluation under Adverse Conditions

We present SAL (SLAM Adversarial Lab), a modular framework for evaluating visual SLAM systems under adversarial conditions such as fog and rain. SAL represents each adversarial condition as a perturbation that transforms an existing dataset into an adversarial dataset. When transforming a dataset, SAL supports severity levels using easily-interpretable real-world units such as meters for fog visibility. SAL's extensible architecture decouples datasets, perturbations, and SLAM algorithms through common interfaces, so users can add new components without rewriting integration code. Moreover, SAL includes a search procedure that finds the severity level of a perturbation at which a SLAM system fails. To showcase the capabilities of SAL, our evaluation integrates seven SLAM algorithms and evaluates them across three datasets under weather, camera, and video transport perturbations.

cs.RO↗

arXiv2026

Estimating Power-Law Exponent with Edge Differential Privacy

Many real-world graphs have degree distributions that are well approximated by a power-law, and the corresponding scaling parameter $α$ provides a compact summary of that structure which is useful for graph analysis and system optimization. When graphs contain sensitive relationship data, $α$ must be estimated without revealing information about individual edges. This paper studies power-law exponent estimation under edge differential privacy. Instead of first releasing a noisy degree distribution and then fitting a power-law model, we propose privatizing only the low-dimensional sufficient statistics needed to estimate $α$, thereby avoiding the high distortion introduced by traditional approaches. Using these released statistics, we support both discrete approximation and likelihood-based numerical optimization for efficient parameter estimation. We develop edge-DP algorithms for both centralized and local DP models, compare degree release and log-statistic release in the local setting, and evaluate the resulting methods on various graph datasets across multiple privacy budgets and tail-cutoff settings.

cs.DB↗