Related papers: Online Dynamic SLAM with Incremental Smoothing and…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Simultaneous Localization and Mapping (SLAM) algorithms are frequently deployed to support a wide range of robotics applications, such as autonomous navigation in unknown environments, and scene mapping in virtual reality. Many of these…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…
We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…
In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…
We present FlashSLAM, a novel SLAM approach that leverages 3D Gaussian Splatting for efficient and robust 3D scene reconstruction. Existing 3DGS-based SLAM methods often fall short in sparse view settings and during large camera movements…
In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying illumination conditions often degrade performance. Existing…
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…
Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…
In this paper, we present the RISE-SLAM algorithm for performing visual-inertial simultaneous localization and mapping (SLAM), while improving estimation consistency. Specifically, in order to achieve real-time operation, existing…
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…
Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…
Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…