Related papers: HDRFusion: HDR SLAM using a low-cost auto-exposure…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…
This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…
We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…
Accurate and stable feature matching is critical for computer vision tasks, particularly in applications such as Simultaneous Localization and Mapping (SLAM). While recent learning-based feature matching methods have demonstrated promising…
LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints. Though seemingly natural, how to efficiently…
Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…
Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…
Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle to achieve. However, existing GS-SLAM systems perform poorly…
We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…
Dynamic Range (DR) is a pivotal characteristic of imaging systems. Current frame-based cameras struggle to achieve high dynamic range imaging due to the conflict between globally uniform exposure and spatially variant scene illumination. In…
High dynamic range (HDR) imaging enables to immortalize natural scenes similar to the way that they are perceived by human observers. With regular low dynamic range (LDR) capture/display devices, significant details may not be preserved in…
In this lecture note, we describe high dynamic range (HDR) imaging systems; such systems are able to represent luminances of much larger brightness and, typically, also a larger range of colors than conventional standard dynamic range (SDR)…
Imitation learning is employed to learn sensorimotor coordination for steering angle prediction in an end-to-end fashion requires expert demonstrations. These expert demonstrations are paired with environmental perception and vehicle…
Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…
The 3D Gaussian Splatting (3DGS)-based SLAM system has garnered widespread attention due to its excellent performance in real-time high-fidelity rendering. However, in real-world environments with dynamic objects, existing 3DGS-based SLAM…
High Dynamic Range (HDR) generation remains challenging for generative models, which are largely limited to low dynamic range outputs. Recent diffusionbased approaches approximate HDR by generating multiple exposure-conditioned samples,…