Related papers: TomoSLAM: factor graph optimization for rotation a…
This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…
We propose a new methodology to estimate the 3D displacement field of deformable objects from video sequences using standard monocular cameras. We solve in real time the complete (possibly visco-)hyperelasticity problem to properly describe…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems. SLAM and rotation averaging…
Synchrotron radiation observed in a quiescent TCV runaway discharge is studied using filtered camera images targeting three distinct wavelength intervals. Through the tomographic SART procedure the high momentum, high pitch angle part of…
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…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
Simultaneous localization and mapping (SLAM) is one of the key components of a control system that aims to ensure autonomous navigation of a mobile robot in unknown environments. In a variety of practical cases a robot might need to travel…
In many imaging applications it is important to assess how well the edges of the original object, $f$, are resolved in an image, $f^\text{rec}$, reconstructed from the measured data, $g$. In this paper we consider the case of image…
Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…
The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…
With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…
Object-level SLAM introduces semantic meaningful and compact object landmarks that help both indoor robot applications and outdoor autonomous driving tasks. However, the back end of object-level SLAM suffers from singularity problems…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…