Related papers: Vulcan Centaur: towards end-to-end real-time perce…
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…
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a feature-based…
This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associations to achieve real-time estimation and high precision…
Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…
This study presents a vision system for planetary rovers, combining real-time perception with offline terrain reconstruction. The real-time module integrates CLAHE enhanced stereo imagery, YOLOv11n based object detection, and a neural…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…
The efficiency and accuracy of mapping are crucial in a large scene and long-term AR applications. Multi-agent cooperative SLAM is the precondition of multi-user AR interaction. The cooperation of multiple smart phones has the potential to…
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 view of the problems that visual simultaneous localization and mapping (VSLAM) are susceptible to environmental light interference and luminosity inconsistency, the visual simultaneous localization and mapping technology based on near…
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually…
In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
We present an autonomous aerial surveillance platform, Veg, designed as a fault-tolerant quadcopter system that integrates visual SLAM for GPS-independent navigation, advanced control architecture for dynamic stability, and embedded vision…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…