Related papers: MAC: Graph Sparsification by Maximizing Algebraic …
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
Long-term state estimation over graphs remains challenging as current graph estimation methods scale poorly on large, long-term graphs. To address this, our work advances a current state-of-the-art graph sparsification algorithm, maximizing…
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…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
Pose-graph SLAM is the de facto standard framework for constructing large-scale maps from multi-session experiences of relative observations and motions during visual robot navigation. It has received increasing attention in the context of…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing methods rely on non-linear optimization techniques to find…
Quantifying uncertainty is a key stage in active simultaneous localization and mapping (SLAM), as it allows to identify the most informative actions to execute. However, dealing with full covariance or even Fisher information matrices…
Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…
Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…