Related papers: Learning to Segment Dynamic Objects using SLAM Out…

Simultaneous Localization & Mapping (SLAM) is the process of building a mutual relationship between localization and mapping of the subject in its surrounding environment. With the help of different sensors, various types of SLAM systems…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Amodal instance segmentation, which aims to detect and segment both visible and invisible parts of objects in images, plays a crucial role in various applications including autonomous driving, robotic manipulation, and scene understanding.…

The promise of self-supervised learning (SSL) is to leverage large amounts of unlabeled data to solve complex tasks. While there has been excellent progress with simple, image-level learning, recent methods have shown the advantage of…

Image segmentation needs both local boundary position information and global object context information. The performance of the recent state-of-the-art method, fully convolutional networks, reaches a bottleneck due to the neural network…

Stable feature extraction is the key for the Loop closure detection (LCD) task in the simultaneously localization and mapping (SLAM) framework. In our paper, the feature extraction is operated by using a generative adversarial networks…

We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for…

Specular reflections pose a significant challenge for object segmentation, as their sharp intensity transitions often mislead both conventional algorithms and deep learning based methods. However, as the specular reflection must lie on the…

Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the…

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…

According to experts, Simultaneous Localization and Mapping (SLAM) is an intrinsic part of autonomous robotic systems. Several SLAM systems with impressive performance have been invented and used during the last several decades. However,…

Unsupervised multi-object segmentation has shown impressive results on images by utilizing powerful semantics learned from self-supervised pretraining. An additional modality such as depth or motion is often used to facilitate the…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…