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This paper proposes a novel proximal-gradient algorithm for a decentralized optimization problem with a composite objective containing smooth and non-smooth terms. Specifically, the smooth and nonsmooth terms are dealt with by gradient and…
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…
A fundamental problem in signal processing is to denoise a signal. While there are many well-performing methods for denoising signals defined on regular supports, such as images defined on two-dimensional grids of pixels, many important…
In this letter, we present a neural field-based real-time monocular mapping framework for accurate and dense Simultaneous Localization and Mapping (SLAM). Recent neural mapping frameworks show promising results, but rely on RGB-D or pose…
Graph Convolutional Network (GCN) is a model that can effectively handle graph data tasks and has been successfully applied. However, for large-scale graph datasets, GCN still faces the challenge of high computational overhead, especially…
Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…
We develop a novel parallel decomposition strategy for unweighted, undirected graphs, based on growing disjoint connected clusters from batches of centers progressively selected from yet uncovered nodes. With respect to similar previous…
Modern time series are usually composed of multiple oscillatory components, with time-varying frequency and amplitude contaminated by noise. The signal processing mission is further challenged if each component has an oscillatory pattern,…
The simultaneous localization and mapping (SLAM) problem is considered in three dimensions. The proposed algorithm, differential geometric SLAM (DG-SLAM), employs methods from differential geometry to propagate the state and map estimates.…
SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
As 3D Gaussian Splatting (3DGS) provides fast and high-quality novel view synthesis, it is a natural extension to deform a canonical 3DGS to multiple frames for representing a dynamic scene. However, previous works fail to accurately…
Line matching plays an essential role in structure from motion (SFM) and simultaneous localization and mapping (SLAM), especially in low-textured and repetitive scenes. In this paper, we present a new method of using a graph convolution…
3D Gaussian Splatting has emerged as a powerful representation of geometry and appearance for RGB-only dense Simultaneous Localization and Mapping (SLAM), as it provides a compact dense map representation while enabling efficient and…
When facing graph signal processing tasks, the workhorse assumption is that the graph describing the support of the signals is known. However, in many relevant applications the available graph suffers from observation errors and…
In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…
We analyse the learning performance of Distributed Gradient Descent in the context of multi-agent decentralised non-parametric regression with the square loss function when i.i.d. samples are assigned to agents. We show that if agents hold…
Gaussian SLAM systems excel in real-time rendering and fine-grained reconstruction compared to NeRF-based systems. However, their reliance on extensive keyframes is impractical for deployment in real-world robotic systems, which typically…
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…
We present X-SLAM, a real-time dense differentiable SLAM system that leverages the complex-step finite difference (CSFD) method for efficient calculation of numerical derivatives, bypassing the need for a large-scale computational graph.…