Related papers: BioSLAM: A Bio-inspired Lifelong Memory System for…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…
This paper introduces a new lifelong learning solution where a single model is trained for a sequence of tasks. The main challenge that vision systems face in this context is catastrophic forgetting: as they tend to adapt to the most…
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…
Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…
Deep learning-based image retrieval techniques for the loop closure detection demonstrate satisfactory performance. However, it is still challenging to achieve high-level performance based on previously trained models in different…
Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…
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…
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…
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…
This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…
As the robot explores the environment, the map grows over time in the simultaneous localization and mapping (SLAM) system, especially for the large scale environment. The ever-growing map prevents long-term mapping. In this paper, we…
Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…
Our research is focused on understanding and applying biological memory transfers to new AI systems that can fundamentally improve their performance, throughout their fielded lifetime experience. We leverage current understanding of…
Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…
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…
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associations to achieve real-time estimation and high precision…
Purpose: We propose a novel method for continual learning based on the increasing depth of neural networks. This work explores whether extending neural network depth may be beneficial in a life-long learning setting. Methods: We propose a…
Point cloud place recognition (PCPR) determines the geo-location within a prebuilt map and plays a crucial role in geoscience and robotics applications such as autonomous driving, intelligent transportation, and augmented reality. In…
We study landmark-based SLAM with unknown data association: our robot navigates in a completely unknown environment and has to simultaneously reason over its own trajectory, the positions of an unknown number of landmarks in the…