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Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Support Vector Machines (SVM) is a computational technique which has been used in various fields of sciences as a classifier with k-class classification capability, k being 2,3,4, etc. Seismograms of volcanic tremors often contain noises…
Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…
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…
Recent advances in deep monocular visual Simultaneous Localization and Mapping (SLAM) have achieved impressive accuracy and dense reconstruction capabilities, yet their robustness to scale inconsistency in large-scale indoor environments…
Research in 3D mapping is crucial for smart city applications, yet the cost of acquiring 3D data often hinders progress. Visual localization, particularly monocular camera position estimation, offers a solution by determining the camera's…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
In this paper, we introduce the MLM (Multiple Languages and Modalities) dataset - a new resource to train and evaluate multitask systems on samples in multiple modalities and three languages. The generation process and inclusion of semantic…
Reliable off-road navigation requires accurate estimation of traversable regions and robust perception under diverse terrain and sensing conditions. However, existing datasets lack both scalability and multi-modality, which limits progress…
In this paper, we propose a workflow based on SalSi for the detection and delineation of geological structures such as salt domes. SalSi is a seismic attribute designed based on the modeling of human visual system that detects the salient…
We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with ecological observations and standard…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
In this paper we present The Rosario Dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such…
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…
LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained…
Many active volcanoes in the world exhibit Strombolian activity, which is typically characterized by relatively frequent mild events and also by rare and much more destructive major explosions and paroxysms. Detailed analyses of past major…
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…
We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…