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Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective algorithm cannot be…

Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments --…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…

In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Nevertheless, not so many…

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Routine and repetitive infrastructure inspections present safety, efficiency, and consistency challenges as they are performed manually, often in challenging or hazardous environments. They can also introduce subjectivity and errors into…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

Despite the growing interest for autonomous environmental monitoring, effective SLAM realization in native habitats remains largely unsolved. In this paper, we fill this gap by presenting a novel online graph-based SLAM system for 2D LiDAR…

Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…

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…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…