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Jointing visual-semantic embeddings (VSE) have become a research hotpot for the task of image annotation, which suffers from the issue of semantic gap, i.e., the gap between images' visual features (low-level) and labels' semantic features…
Feature detection is a common yet time-consuming module in Simultaneous Localization and Mapping (SLAM) implementations, which are increasingly deployed on power-constrained platforms, such as drones. Graphics Processing Units (GPUs) have…
Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and others. A key enabling technology for such applications is the…
Vision-language models such as CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions due to pre-training on short and concise captions. We present FAST-GOAL…
In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…
Recently, the philosophy of visual saliency and attention has started to gain popularity in the robotics community. Therefore, this paper aims to mimic this mechanism in SLAM framework by using saliency prediction model. Comparing with…
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination…
The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…
Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice…
Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments remains challenging. Most methods directly remove dynamic…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
Few-shot image classification remains a critical challenge in the field of computer vision, particularly in data-scarce environments. Existing methods typically rely on pre-trained visual-language models, such as CLIP. However, due to the…
3D Gaussian Splatting has emerged as a promising technique for high-quality 3D rendering, leading to increasing interest in integrating 3DGS into realism SLAM systems. However, existing methods face challenges such as Gaussian primitives…
LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…