Related papers: Incremental Loop Closure Verification by Guided Sa…
We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicatedkidnap scenarios and failures online in realtime. We propose to learn the whole-image-descriptorin a weakly supervised manner based on…
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…
Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic field-based Simultaneous Localisation…
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information to construct the…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…
Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
We propose a computational framework named iterative local adaptive majorize-minimization (I-LAMM) to simultaneously control algorithmic complexity and statistical error when fitting high dimensional models. I-LAMM is a two-stage…
The most promising recent methods for AI reasoning require applying variants of reinforcement learning (RL) either on rolled out trajectories from the LLMs, even for the step-wise rewards, or large quantities of human-annotated trajectory…
The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
LiDAR loop closure detection (LCD) is crucial for consistent Simultaneous Localization and Mapping (SLAM) but faces challenges in robustness and accuracy. Existing methods, including semantic graph approaches, often suffer from coarse…
The goal of neural-symbolic computation is to integrate the connectionist and symbolist paradigms. Prior methods learn the neural-symbolic models using reinforcement learning (RL) approaches, which ignore the error propagation in the…
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…