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In simultaneous localization and mapping (SLAM), image feature point matching process consume a lot of time. The capacity of low-power systems such as embedded systems is almost limited. It is difficult to ensure the timely processing of…
We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…
With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Visual-inertial SLAM is crucial in various fields, such as aerial vehicles, industrial robots, and autonomous driving. The fusion of camera and inertial measurement unit (IMU) makes up for the shortcomings of a signal sensor, which…
Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…
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…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…
We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…
Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…
In recent years, human pose estimation has made significant progress through the implementation of deep learning techniques. However, these techniques still face limitations when confronted with challenging scenarios, including occlusion,…
Recent deep learning based visual simultaneous localization and mapping (SLAM) methods have made significant progress. However, how to make full use of visual information as well as better integrate with inertial measurement unit (IMU) in…
In recent interactive segmentation algorithms, previous probability maps are used as network input to help predictions in the current segmentation round. However, despite the utilization of previous masks, useful information contained in…
The neural attention mechanism has been incorporated into deep neural networks to achieve state-of-the-art performance in various domains. Most such models use multi-head self-attention which is appealing for the ability to attend to…
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…
Interactive segmentation uses real-time user inputs, such as mouse clicks, to iteratively refine model predictions. Although not originally designed to address distribution shifts, this paradigm naturally lends itself to such challenges. In…
Estimating spatial distributions is important in data analysis, such as traffic flow forecasting and epidemic prevention. To achieve accurate spatial distribution estimation, the analysis needs to collect sufficient user data. However,…
In image segmentation, there is often more than one plausible solution for a given input. In medical imaging, for example, experts will often disagree about the exact location of object boundaries. Estimating this inherent uncertainty and…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…