Related papers: LONER: LiDAR Only Neural Representations for Real-…

Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and…

We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene geometry as point clouds or volumetric grids, we represent…

Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dense maps are essential for robotic applications, such as…

LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…

Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this direction fall short in terms of global consistency and low…

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…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

Implicit 3D surface reconstruction of an object from its partial and noisy 3D point cloud scan is the classical geometry processing and 3D computer vision problem. In the literature, various 3D shape representations have been developed,…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…

Supervised Deep-Learning (DL)-based reconstruction algorithms have shown state-of-the-art results for highly-undersampled dynamic Magnetic Resonance Imaging (MRI) reconstruction. However, the requirement of excessive high-quality…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Quantitative T1rho mapping has shown promise in clinical and research studies. However, it suffers from long scan times. Deep learning-based techniques have been successfully applied in accelerated quantitative MR parameter mapping.…

We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…