Related papers: SLC$^2$-SLAM: Semantic-guided Loop Closure using S…
The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…
Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, previous works in this direction either rely on RGB-D sensors, or require a separate…
Identifying multiple novel classes in an image, known as open-vocabulary multi-label recognition, is a challenging task in computer vision. Recent studies explore the transfer of powerful vision-language models such as CLIP. However, these…
Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…
Long polar codes can achieve the capacity of arbitrary binary-input discrete memoryless channels under a low complexity successive cancelation (SC) decoding algorithm. But for polar codes with short and moderate code length, the decoding…
Loop Closure Detection (LCD) has been proved to be extremely useful in global consistent visual Simultaneously Localization and Mapping (SLAM) and appearance-based robot relocalization. Methods exploiting binary features in bag of words…
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning…
Real-world autonomous driving must adhere to complex human social rules that extend beyond legally codified traffic regulations. Many of these semantic constraints, such as yielding to emergency vehicles, complying with traffic officers'…
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…
Malicious image manipulation threatens public safety and requires efficient localization methods. Existing approaches depend on costly pixel-level annotations which make training expensive. Existing weakly supervised methods rely only on…
With the emergence of Neural Radiance Fields (NeRF), neural implicit representations have gained widespread applications across various domains, including simultaneous localization and mapping. However, current neural implicit SLAM faces a…
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…
Sentence compression is the task of compressing a long sentence into a short one by deleting redundant words. In sequence-to-sequence (Seq2Seq) based models, the decoder unidirectionally decides to retain or delete words. Thus, it cannot…
Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
Recent advancements in Simultaneous Localization and Mapping (SLAM) have increasingly highlighted the robustness of LiDAR-based techniques. At the same time, Neural Radiance Fields (NeRF) have introduced new possibilities for 3D scene…
Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RANSAC is often used in the context of loop closures for…
For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…
In this paper, we propose a flexible SLAM framework, XRDSLAM. It adopts a modular code design and a multi-process running mechanism, providing highly reusable foundational modules such as unified dataset management, 3d visualization,…