Related papers: The SLAM Hive Benchmarking Suite
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…
This paper focuses on efficient landmark management in radar based simultaneous localization and mapping (SLAM). Landmark management is necessary in order to maintain a consistent map of the estimated landmarks relative to the estimate of…
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…
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…
Subspace clustering discovers the clusters embedded in multiple, overlapping subspaces of high dimensional data. Many significant subspace clustering algorithms exist, each having different characteristics caused by the use of different…
In this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual…
Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…
As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…
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…
Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalization of SLAM algorithms remains a significant challenge, as…
Humanoid robots are playing increasingly important roles in real-life tasks especially when it comes to indoor applications. Providing robust solutions for the tasks such as indoor environment mapping, self-localisation and object…
Recent interest towards autonomous navigation and exploration robots for indoor applications has spurred research into indoor Simultaneous Localization and Mapping (SLAM) robot systems. While most of these SLAM systems use Visual and LiDAR…
Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environments and when scenes change. We present Semantic Enhancement…
Energy-efficient simultaneous localization and mapping (SLAM) is crucial for mobile robots exploring unknown environments. The mammalian brain solves SLAM via a network of specialized neurons, exhibiting asynchronous computations and…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…
Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…
Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…
Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluation frameworks. We present MapEval, an open-source framework…
Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…