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Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints…
Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the…
Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…
Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, however, remains challenging in unstructured, dynamic…
Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC$^2$-SLAM. We argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as…
Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts arising from long-term…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Simultaneous Localization and Mapping (SLAM) is a key component of autonomous systems operating in environments that require a consistent map for reliable localization. SLAM has been a widely studied topic for decades with most of the…
Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…
The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…
We study algorithms for detecting and including glass objects in an optimization-based Simultaneous Localization and Mapping (SLAM) algorithm in this work. When LiDAR data is the primary exteroceptive sensory input, glass objects are not…
Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…