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The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…
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…
Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…
Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
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…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…
Structured Light Illumination (SLI) systems have been used for reliable indoor dense 3D scanning via phase triangulation. However, mobile SLI systems for 360 degree 3D reconstruction demand 3D point cloud registration, involving high…
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…
Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…
One of the main challenges in simultaneous localization and mapping (SLAM) is real-time processing. High-computational loads linked to data acquisition and processing complicate this task. This article presents an efficient feature…
The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints…
Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique,…
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…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…