Related papers: Real-time Indoor Scene Reconstruction with RGBD an…

Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…

We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…

With their high-fidelity scene representation capability, the attention of SLAM field is deeply attracted by the Neural Radiation Field (NeRF) and 3D Gaussian Splatting (3DGS). Recently, there has been a surge in NeRF-based SLAM, while…

3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplored. Multi-agent Gaussian SLAM is a promising approach to…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

Recent advancements in Simultaneous Localization and Mapping (SLAM) have increasingly highlighted the robustness of LiDAR-based techniques. At the same time, Neural Radiance Fields (NeRF) have introduced new possibilities for 3D scene…

Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor…

In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…

Large-scale dynamic inverse problems are often ill-posed due to model complexity and the high dimensionality of the unknown parameters. Regularization is commonly employed to mitigate ill-posedness by incorporating prior information and…

Thanks to its capability of acquiring full-view frames at multiple kilohertz, ultrafast ultrasound imaging unlocked the analysis of rapidly changing physical phenomena in the human body, with pioneering applications such as ultrasensitive…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

Tissue deformation poses a key challenge for accurate surgical scene reconstruction. Despite yielding high reconstruction quality, existing methods suffer from slow rendering speeds and long training times, limiting their intraoperative…

Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…

Extreme exposure degrades both the 3D map reconstruction and semantic segmentation accuracy, which is particularly detrimental to tightly-coupled systems. To achieve illumination invariance, we propose a novel semantic SLAM framework with…

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…

In current practice, scene survey is carried out by workers using total stations. The method has high accuracy, but it incurs high costs if continuous monitoring is needed. Techniques based on photogrammetry, with the relatively cheaper…