Related papers: IDLS: Inverse Depth Line based Visual-Inertial SLA…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle with memory explosion in large-scale scenes and long…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense,…

In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouples rotation and translation estimation of the tracking…

Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first…

The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor. Feature-based and direct methods are two mainstreams in visual SLAM. Both methods…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…

This paper studies the problem of Line Segment Detection (LSD) for the characterization of line geometry in images, with the aim of learning a domain-agnostic robust LSD model that works well for any natural images. With the focus of…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

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…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

We investigate a new paradigm that uses differentiable SLAM architectures in a self-supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work…

Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study…

In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…

Dimensionality reduction plays an important role in computer vision problems since it reduces computational cost and is often capable of yielding more discriminative data representation. In this context, Partial Least Squares (PLS) has…

Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that can quantitatively evaluate the accuracy of a 3D pointcloud…

Implicit Neural Representations (INRs) have emerged as a paradigm in knowledge representation, offering exceptional flexibility and performance across a diverse range of applications. INRs leverage multilayer perceptrons (MLPs) to model…