Related papers: Photometric LiDAR and RGB-D Bundle Adjustment
3D reconstruction has been developing all these two decades, from moderate to medium size and to large scale. It's well known that bundle adjustment plays an important role in 3D reconstruction, mainly in Structure from Motion(SfM) and…
The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered glamorous in any sense of the word, it is nonetheless crucial…
LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…
Simultaneous Localization and Mapping (SLAM) achieves the purpose of simultaneous positioning and map construction based on self-perception. The paper makes an overview in SLAM including Lidar SLAM, visual SLAM, and their fusion. For Lidar…
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…
Extreme exposure degrades both the 3D map reconstruction and semantic segmentation accuracy, which is particularly detrimental to tightly-coupled systems. To achieve illumination invariance, we propose a novel semantic SLAM framework with…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
Reconstructing precise camera poses and floor plan layouts from wide-baseline RGB panoramas is a difficult and unsolved problem. We introduce BADGR, a novel diffusion model that jointly performs reconstruction and bundle adjustment (BA) to…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…
Photometric bundle adjustment (PBA) is widely used in estimating the camera pose and 3D geometry by assuming a Lambertian world. However, the assumption of photometric consistency is often violated since the non-diffuse reflection is common…
The reliability of Simultaneous Localization and Mapping (SLAM) is severely constrained in environments where visual inputs suffer from noise and low illumination. Although recent 3D Gaussian Splatting (3DGS) based SLAM frameworks achieve…
Real-time processing of UAV imagery is crucial for applications requiring urgent geospatial information, such as disaster response, where rapid decision-making and accurate spatial data are essential. However, processing high-resolution…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
Recently, the philosophy of visual saliency and attention has started to gain popularity in the robotics community. Therefore, this paper aims to mimic this mechanism in SLAM framework by using saliency prediction model. Comparing with…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…
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…