Related papers: FutureMapping: The Computational Structure of Spat…
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
This paper describes a novel SLAM (simultaneous localization and mapping) scheme based on scan matching in an environment including various physical properties.
SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unfortunately, not all the approaches are available as…
The evolution of User Interfaces marks a significant transition from traditional command-line interfaces to more intuitive graphical and touch-based interfaces, largely driven by the emergence of personal computing devices. The advent of…
Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…
This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…
Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…
Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…
Evaluating the performance of Simultaneous Localization and Mapping (SLAM) algorithms is essential for scientists and users of robotic systems alike. But there are a multitude of different permutations of possible options of hardware setups…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, the previously available architectural plan of the building…
In this paper we present the first published end-to-end production computer-vision system for powering city-scale shared augmented reality experiences on mobile devices. In doing so we propose a new formulation for an experience-based…
We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…
Deep-sea exploration poses significant challenges, including disorientation, communication loss, and navigational failures in dynamic underwater environments. This paper presents an Autonomous Underwater Cognitive System (AUCS) that…
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…
Analytical approach to SLAM problem was introduced in the recent years. In our work we investigate the method numerically with the motivation of using the algorithm in a real hardware experiments. We perform a robustness test of the…