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The increase in open-source availability of Large Language Models (LLMs) has enabled users to deploy them on more and more resource-constrained edge devices to reduce reliance on network connections and provide more privacy. However, the…

Autonomous mobile robots (AMRs), used for search-and-rescue and remote exploration, require fast and robust planning and control schemes. Sampling-based approaches for Model Predictive Control, especially approaches based on the Model…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, the previously available architectural plan of the building…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…

Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation and Mapping (VSLAM) -…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…

A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…

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,…

Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

Vehicles with prolonged autonomous missions have to maintain environment awareness by simultaneous localization and mapping (SLAM). Closed loop correction is substituted by interpolation in rigid body transformation space in order to…

In this paper, we demonstrate the design of efficient and high-performance AI/Deep Learning accelerators with customized STT-MRAM and a reconfigurable core. Based on model-driven detailed design space exploration, we present the design…

Artificial intelligence (AI) is increasingly deployed in real-time and energy-constrained environments, driving demand for hardware platforms that can deliver high performance and power efficiency. While central processing units (CPUs) and…