Related papers: Geometry-based Graph Pruning for Lifelong SLAM

Modeling information that resides on vertices of large graphs is a key problem in several real-life applications, ranging from social networks to the Internet-of-things. Signal Processing on Graphs and, in particular, graph wavelets can…

Simultaneous Localization and Mapping, commonly known as SLAM, has been an active research area in the field of Robotics over the past three decades. For solving the SLAM problem, every robot is equipped with either a single sensor or a…

The definition of $1$-planar graphs naturally extends graph planarity, namely a graph is $1$-planar if it can be drawn in the plane with at most one crossing per edge. Unfortunately, while testing graph planarity is solvable in linear time,…

Statistical analysis of large and sparse graphs is a challenging problem in data science due to the high dimensionality and nonlinearity of the problem. This paper presents a fast and scalable algorithm for partitioning such graphs into…

The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

Many modern data analysis algorithms either assume or are considerably more efficient if the distances between the data points satisfy a metric. These algorithms include metric learning, clustering, and dimension reduction. As real data…

In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

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…

For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization…

Network pruning is a commonly used measure to alleviate the storage and computational burden of deep neural networks. However, the fundamental limit of network pruning is still lacking. To close the gap, in this work we'll take a…

The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…

Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…

We propose a Greedy strategy to solve the problem of Graph Cut, called GGC. It starts from the state where each data sample is regarded as a cluster and dynamically merges the two clusters which reduces the value of the global objective…

In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

This work is dedicated to simultaneous continuous-time trajectory estimation and mapping based on Gaussian Processes (GP). State-of-the-art GP-based models for Simultaneous Localization and Mapping (SLAM) are computationally efficient but…

With the process of urbanization and the rapid growth of population, the issue of traffic congestion has become an increasingly critical concern. Intelligent transportation systems heavily rely on real-time and precise prediction algorithms…

When deploying pre-trained neural network models in real-world applications, model consumers often encounter resource-constraint platforms such as mobile and smart devices. They typically use the pruning technique to reduce the size and…