Related papers: NICE-SLAM: Neural Implicit Scalable Encoding for S…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense,…
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…
Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding…
Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…
We introduce EC-SLAM, a real-time dense RGB-D simultaneous localization and mapping (SLAM) system leveraging Neural Radiance Fields (NeRF). While recent NeRF-based SLAM systems have shown promising results, they have yet to fully exploit…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…
We introduce NeuV-SLAM, a novel dense simultaneous localization and mapping pipeline based on neural multiresolution voxels, characterized by ultra-fast convergence and incremental expansion capabilities. This pipeline utilizes RGBD images…
We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…
Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…
Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…