Related papers: VDO-SLAM: A Visual Dynamic Object-aware SLAM Syste…
We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…
SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…
Simultaneous Localization and Mapping (SLAM) presents a formidable challenge in robotics, involving the dynamic construction of a map while concurrently determining the precise location of the robotic agent within an unfamiliar environment.…
Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding…
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…
In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…
Visual Odometry (VO) and Visual SLAM (V-SLAM) systems often struggle in low-light and dark environments due to the lack of robust visual features. In this paper, we propose a novel active illumination framework to enhance the performance of…
In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By…
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understanding of success and failure cases. However, discrete-time SLAM…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…
Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM…
SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…
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…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…