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We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

We address an important problem in ecology called Species Distribution Modeling (SDM), whose goal is to predict whether a species exists at a certain position on Earth. In particular, we tackle a challenging version of this task, where we…

This work presents a new approach for detection and exclusion (or de-weighting) of pseudo-range measurements from the Global Navigation Satellite System (GNSS) in order to improve the accuracy of single-epoch positioning, which is an…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…

Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…

This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Place recognition is a crucial component that enables autonomous vehicles to obtain localization results in GPS-denied environments. In recent years, multimodal place recognition methods have gained increasing attention. They overcome the…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…