Related papers: DG-SLAM: Robust Dynamic Gaussian Splatting SLAM wi…
Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…
Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…
We present LiV-GS, a LiDAR-visual SLAM system in outdoor environments that leverages 3D Gaussian as a differentiable spatial representation. Notably, LiV-GS is the first method that directly aligns discrete and sparse LiDAR data with…
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
The simultaneous localization and mapping (SLAM) problem is considered in three dimensions. The proposed algorithm, differential geometric SLAM (DG-SLAM), employs methods from differential geometry to propagate the state and map estimates.…
Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…
Digitizing 3D static scenes and 4D dynamic events from multi-view images has long been a challenge in computer vision and graphics. Recently, 3D Gaussian Splatting (3DGS) has emerged as a practical and scalable reconstruction method,…
Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem…
3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…
Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we present a novel dense RGB-D SLAM solution that…
High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios -…
Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to…
Leveraging neural implicit representation to conduct dense RGB-D SLAM has been studied in recent years. However, this approach relies on a static environment assumption and does not work robustly within a dynamic environment due to the…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments,…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…
Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…
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…
Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…