Related papers: UncLe-SLAM: Uncertainty Learning for Dense Neural …

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

We propose a novel, vision-only object-level SLAM framework for automotive applications representing 3D shapes by implicit signed distance functions. Our key innovation consists of augmenting the standard neural representation by a…

Active Simultaneous Localization and Mapping (Active SLAM) involves the strategic planning and precise control of a robotic system's movement in order to construct a highly accurate and comprehensive representation of its surrounding…

A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their…

We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

We propose universally slimmable self-supervised learning (dubbed as US3L) to achieve better accuracy-efficiency trade-offs for deploying self-supervised models across different devices. We observe that direct adaptation of self-supervised…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

NeRF-based SLAM has recently achieved promising results in tracking and reconstruction. However, existing methods face challenges in providing sufficient scene representation, capturing structural information, and maintaining global…

We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large…

Two-view structure from motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM (vSLAM). Many existing end-to-end learning-based methods usually formulate it as a brute regression problem. However, the inadequate utilization of…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

We present a neural network architecture for jointly learning user locations and environment mapping up to isometry, in an unsupervised way, from channel state information (CSI) values with no location information. The model is based on an…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Monocular SLAM algorithms perform robustly when observing rigid scenes, however, they fail when the observed scene deforms, for example, in medical endoscopy applications. We present DefSLAM, the first monocular SLAM capable of operating in…