Related papers: Dynamic Visual SLAM using a General 3D Prior
This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…
In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…
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…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…
Estimating human motion from video is an active research area due to its many potential applications. Most state-of-the-art methods predict human shape and posture estimates for individual images and do not leverage the temporal information…
This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…
This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…
Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…
Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…
This work proposes a new, online algorithm for estimating the local scale correction to apply to the output of a monocular SLAM system and obtain an as faithful as possible metric reconstruction of the 3D map and of the camera trajectory.…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…
The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…