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Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
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…
Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…
The research in dense online 3D mapping is mostly focused on the geometrical accuracy and spatial extent of the reconstructions. Their color appearance is often neglected, leading to inconsistent colors and noticeable artifacts. We rectify…
Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Vision-based sensors have shown significant performance, accuracy, and efficiency gain in Simultaneous Localization and Mapping (SLAM) systems in recent years. In this regard, Visual Simultaneous Localization and Mapping (VSLAM) methods…
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…
Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…
Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…
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…
We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
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…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
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…
The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…