Related papers: Highly Efficient Compact Pose SLAM with SLAM++

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…

The performance of ensemble-based data assimilation techniques that estimate the state of a dynamical system from partial observations depends crucially on the prescribed uncertainty of the model dynamics and of the observations. These are…

This paper presents a hierarchical segment-based optimization method for Simultaneous Localization and Mapping (SLAM) system. First we propose a reliable trajectory segmentation method that can be used to increase efficiency in the back-end…

Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents…

This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can handle more than two…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…

Efficient estimation methods for simultaneous autoregressive (SAR) models with missing data in the response variable have been well-explored in the literature. A common practice is to introduce measurement error into SAR models to separate…

Learning a Gaussian Mixture Model (GMM) is hard when the number of parameters is too large given the amount of available data. As a remedy, we propose restricting the GMM to a Gaussian Markov Random Field Mixture Model (GMRF-MM), as well as…

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress…

A number of problems in quantum state and system identification are addressed. Specifically, it is shown that the maximum likelihood estimation (MLE) approach, already known to apply to quantum state tomography, is also applicable to…

We address the challenge of performing Targeted Maximum Likelihood Estimation (TMLE) after an initial Highly Adaptive Lasso (HAL) fit. Existing approaches that utilize the data-adaptive working model selected by HAL-such as the relaxed HAL…

State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…

The sparsity-restricted maximum likelihood estimator (SMLE) has received considerable attention for feature screening in ultrahigh-dimensional regression. SMLE is a computationally convenient method that naturally incorporates the joint…

Large Language Models (LLMs) are widely used for downstream tasks such as tabular classification, where ensuring fairness in their outputs is critical for inclusivity, equal representation, and responsible AI deployment. This study…

Two-view structure from motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM (vSLAM). Many existing end-to-end learning-based methods usually formulate it as a brute regression problem. However, the inadequate utilization of…

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of…

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…