Related papers: FD-SLAM: 3-D Reconstruction Using Features and Den…
Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…
Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…
We propose GauS-SLAM, a dense RGB-D SLAM system that leverages 2D Gaussian surfels to achieve robust tracking and high-fidelity mapping. Our investigations reveal that Gaussian-based scene representations exhibit geometry distortion under…
Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…
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…
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…
Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…
We present a visual simultaneous localization and mapping (SLAM) framework of closing surface loops. It combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and globally…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural…
Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…
Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…
Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a…
Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
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…
3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplored. Multi-agent Gaussian SLAM is a promising approach to…
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…
Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…