Related papers: UV-SLAM: Unconstrained Line-based SLAM Using Vanis…
Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
Simultaneous localization and mapping (SLAM) based on particle filtering has been extensively employed in indoor scenarios due to its high efficiency. However, in geometry feature-less scenes, the accuracy is severely reduced due to lack of…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
Most of the state-of-the-art indirect visual SLAM methods are based on the sparse point features. However, it is hard to find enough reliable point features for state estimation in the case of low-textured scenes. Line features are abundant…
We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…
Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…