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When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
Robust estimation of camera motion under the presence of outlier noise is a fundamental problem in robotics and computer vision. Despite existing efforts that focus on detecting motion and scene degeneracies, the best existing approach that…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Visual-inertial SLAM is crucial in various fields, such as aerial vehicles, industrial robots, and autonomous driving. The fusion of camera and inertial measurement unit (IMU) makes up for the shortcomings of a signal sensor, which…
We propose to integrate text objects in man-made scenes tightly into the visual SLAM pipeline. The key idea of our novel text-based visual SLAM is to treat each detected text as a planar feature which is rich of textures and semantic…
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…
We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…
3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…
Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…
In recent years, deep learning based visual tracking methods have obtained great success owing to the powerful feature representation ability of Convolutional Neural Networks (CNNs). Among these methods, classification-based tracking…
We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…
Detecting the presence of anomalies in regression models is a crucial task in machine learning, as anomalies can significantly impact the accuracy and reliability of predictions. Random Sample Consensus (RANSAC) is one of the most popular…
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…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
Generalized singular values (GSVs) play an essential role in the comparative analysis. In the real world data for comparative analysis, both data matrices are usually numerically low-rank. This paper proposes a randomized algorithm to first…
While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…
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…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…