Related papers: GeneA-SLAM2: Dynamic SLAM with AutoEncoder-Preproc…

Indirect methods for visual SLAM are gaining popularity due to their robustness to environmental variations. ORB-SLAM2 \cite{orbslam2} is a benchmark method in this domain, however, it consumes significant time for computing descriptors…

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…

High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

In this paper we present a data-driven approach to obtain the static image of a scene, eliminating dynamic objects that might have been present at the time of traversing the scene with a camera. The general objective is to improve…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this direction fall short in terms of global consistency and low…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

The 3D Gaussian Splatting (3DGS)-based SLAM system has garnered widespread attention due to its excellent performance in real-time high-fidelity rendering. However, in real-world environments with dynamic objects, existing 3DGS-based SLAM…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…

3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

The high-quality images yielded by generative adversarial networks (GANs) have motivated investigations into their application for image editing. However, GANs are often limited in the control they provide for performing specific edits. One…

Keypoint detection is the foundation of many computer vision tasks, including image registration, structure-from-motion, 3D reconstruction, visual odometry, and SLAM. Traditional detectors (SIFT, ORB, BRISK, FAST, etc.) and learning-based…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…