Related papers: COVINS: Visual-Inertial SLAM for Centralized Colla…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…
Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…
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…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
Simultaneous localization and mapping (SLAM) techniques can be used to navigate the visually impaired, but the development of robust SLAM solutions for crowded spaces is limited by the lack of realistic datasets. To address this, we…
Vision-Language Navigation (VLN) aims to empower robots with the ability to perform long-horizon navigation in unfamiliar environments based on complex linguistic instructions. Its success critically hinges on establishing an efficient…
VINGS-Mono is a monocular (inertial) Gaussian Splatting (GS) SLAM framework designed for large scenes. The framework comprises four main components: VIO Front End, 2D Gaussian Map, NVS Loop Closure, and Dynamic Eraser. In the VIO Front End,…
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Collaborative Simultaneous Localization and Mapping (C-SLAM) is a fundamental capability for multi-robot teams as it enables downstream tasks like planning and navigation. However, existing C-SLAM back-end algorithms that are required to…
Today, video cameras are deployed in dense for monitoring physical places e.g., city, industrial, or agricultural sites. In the current systems, each camera node sends its feed to a cloud server individually. However, this approach suffers…
Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
Robots responsible for tasks over long time scales must be able to localize consistently and scalably amid geometric, viewpoint, and appearance changes. Existing visual SLAM approaches rely on low-level feature descriptors that are not…
Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…
This paper introduces a novel incremental distributed back-end algorithm for Collaborative Simultaneous Localization and Mapping (C-SLAM). For real-world deployments, robotic teams require algorithms to compute a consistent state estimate…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…