Related papers: Schmidt or Compressed filtering for Visual-Inertia…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…
Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing…
We present a computationally-efficient method for recovering sparse signals from a series of noisy observations, known as the problem of compressed sensing (CS). CS theory requires solving a convex constrained minimization problem. We…
In recent years, visual SLAM has achieved great progress and development in different scenes, however, there are still many problems to be solved. The SLAM system is not only restricted by the external scenes but is also affected by its…
Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-of-the-art (SOTA) LiDAR-Inertial Odometry (LIO) systems still…
Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…
Snapshot compressed sensing (CS) refers to compressive imaging systems in which multiple frames are mapped into a single measurement frame. Each pixel in the acquired frame is a noisy linear mapping of the corresponding pixels in the frames…
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents…
In recent work, we studied the problem of causally reconstructing time sequences of spatially sparse signals, with unknown and slow time-varying sparsity patterns, from a limited number of linear "incoherent" measurements. We proposed a…
Various studies that address the compressed sensing problem with Multiple Measurement Vectors (MMVs) have been recently carried. These studies assume the vectors of the different channels to be jointly sparse. In this paper, we relax this…
A reduced-rank framework with set-membership filtering (SMF) techniques is presented for adaptive beamforming problems encountered in radar systems. We develop and analyze stochastic gradient (SG) and recursive least squares (RLS)-type…
While the SLIM approach obtained high ranking-accuracy in many experiments in the literature, it is also known for its high computational cost of learning its parameters from data. For this reason, we focus in this paper on variants of…
Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…
Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (SLAM)-based…
The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…
Multilinear Compressive Learning (MCL) is an efficient signal acquisition and learning paradigm for multidimensional signals. The level of signal compression affects the detection or classification performance of a MCL model, with higher…
The past few years have witnessed great success in applying deep learning to enhance the quality of compressed image/video. The existing approaches mainly focus on enhancing the quality of a single frame, ignoring the similarity between…
Compressed sensing aims to undersample certain high-dimensional signals, yet accurately reconstruct them by exploiting signal characteristics. Accurate reconstruction is possible when the object to be recovered is sufficiently sparse in a…
With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLAM process. In this paper, based on a novel Lie group…