Related papers: Training Deep SLAM on Single Frames

The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor. Feature-based and direct methods are two mainstreams in visual SLAM. Both methods…

Monocular visual SLAM enables 3D reconstruction from internet video and autonomous navigation on resource-constrained platforms, yet suffers from scale drift, i.e., the gradual divergence of estimated scale over long sequences. Existing…

In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…

We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

The ability of accurate depth prediction by a convolutional neural network (CNN) is a major challenge for its wide use in practical visual simultaneous localization and mapping (SLAM) applications, such as enhanced camera tracking and dense…

In the last decade, numerous supervised deep learning approaches requiring large amounts of labeled data have been proposed for visual-inertial odometry (VIO) and depth map estimation. To overcome the data limitation, self-supervised…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry that builds on the recently developed continuous sensor…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

Optical flow estimation is crucial for various applications in vision and robotics. As the difficulty of collecting ground truth optical flow in real-world scenarios, most of the existing methods of learning optical flow still adopt…

Significant attention has been attracted to deep learning-based depth estimates. Dynamic objects become the most hard problems in inter-frame-supervised depth estimates due to the uncertainty in adjacent frames. Thus, integrating optical…

Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems for aquatic environments have garnered significant attention…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…

In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…

Unsupervised learning of optical flow, which leverages the supervision from view synthesis, has emerged as a promising alternative to supervised methods. However, the objective of unsupervised learning is likely to be unreliable in…