Related papers: Sequential Learning of Visual Tracking and Mapping…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…
We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…
In this paper, we propose an artificial intelligence (AI)-enhanced hybrid simultaneous localization and mapping (SLAM) method that performs Bayesian inference directly on raw radio-frequency (RF) signals while learning an environment model…
This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…
We present a novel spectral learning algorithm for simultaneous localization and mapping (SLAM) from range data with known correspondences. This algorithm is an instance of a general spectral system identification framework, from which it…
Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
The advancement of visual tracking has continuously been brought by deep learning models. Typically, supervised learning is employed to train these models with expensive labeled data. In order to reduce the workload of manual annotations…
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
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…
Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…