Related papers: Data Fusion for Multipath-Based SLAM: Combining In…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Vehicle tracking in Wide Area Motion Imagery (WAMI) relies on associating vehicle detections across multiple WAMI frames to form tracks corresponding to individual vehicles. The temporal window length, i.e., the number $M$ of sequential…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
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…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…
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…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
The plethora of sensors in our commodity devices provides a rich substrate for sensor-fused tracking. Yet, today's solutions are unable to deliver robust and high tracking accuracies across multiple agents in practical, everyday…
Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and others. A key enabling technology for such applications is the…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
We present a novel spectral learning algorithm for simultaneous localization and mapping (SLAM) from range data with known correspondences. This algorithm is an instance of a general spectral system identification framework, from which it…
Ensuring thermal comfort is essential for the well-being and productivity of individuals in built environments. Of the various thermal comfort indicators, the mean radiant temperature (MRT) is very challenging to measure. Most common…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by…
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…
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…
In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…
Accurate localization in challenging garage environments -- marked by poor lighting, sparse textures, repetitive structures, dynamic scenes, and the absence of GPS -- is crucial for automated valet parking (AVP) tasks. Addressing these…