Related papers: Attention-SLAM: A Visual Monocular SLAM Learning f…
Predicting attention is a popular topic at the intersection of human and computer vision. However, even though most of the available video saliency data sets and models claim to target human observers' fixations, they fail to differentiate…
The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…
This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…
Current methods aggregate multi-level features or introduce edge and skeleton to get more refined saliency maps. However, little attention is paid to how to obtain the complete salient object in cluttered background, where the targets are…
LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…
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,…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Human vision is naturally more attracted by some regions within their field of view than others. This intrinsic selectivity mechanism, so-called visual attention, is influenced by both high- and low-level factors; such as the global…
Selective attention is an essential mechanism to filter sensory input and to select only its most important components, allowing the capacity-limited cognitive structures of the brain to process them in detail. The saliency map model,…
Existing solutions to visual simultaneous localization and mapping (V-SLAM) assume that errors in feature extraction and matching are independent and identically distributed (i.i.d), but this assumption is known to not be true -- features…
Though deep learning techniques have made great progress in salient object detection recently, the predicted saliency maps still suffer from incomplete predictions due to the internal complexity of objects and inaccurate boundaries caused…
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…
The saliency ranking task is recently proposed to study the visual behavior that humans would typically shift their attention over different objects of a scene based on their degrees of saliency. Existing approaches focus on learning either…
We tackle the problem of predicting saliency maps for videos of dynamic scenes. We note that the accuracy of the maps reconstructed from the gaze data of a fixed number of observers varies with the frame, as it depends on the content of the…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…
Humans process visual scenes selectively and sequentially using attention. Central to models of human visual attention is the saliency map. We propose a hierarchical visual architecture that operates on a saliency map and uses a novel…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…