Related papers: Detector-in-the-Loop Tracking: Active Memory Recti…

Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts arising from long-term…

Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem,…

Medical image segmentation faces a fundamental challenge in continual learning: data arrives sequentially from heterogeneous sources, yet effective continual learning requires discovering which tasks share sufficient structure to benefit…

Manual annotation of volumetric medical images, such as magnetic resonance imaging (MRI) and computed tomography (CT), is a labor-intensive and time-consuming process. Recent advancements in foundation models for video object segmentation,…

Segment Anything Model 2 (SAM 2) has demonstrated strong performance in object segmentation tasks and has become the state-of-the-art for visual object tracking. The model stores information from previous frames in a memory bank, enabling…

This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the…

The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…

Sequential learning of tasks using gradient descent leads to an unremitting decline in the accuracy of tasks for which training data is no longer available, termed catastrophic forgetting. Generative models have been explored as a means to…

We present a lightweight magnetic field simultaneous localisation and mapping (SLAM) approach for drift correction in odometry paths, where the interest is purely in the odometry and not in map building. We represent the past magnetic field…

Recognizing a previously visited place, also known as place recognition (or loop closure detection) is the key towards fully autonomous mobile robots and self-driving vehicle navigation. Augmented with various Simultaneous Localization and…

Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…

Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…

Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several deep learning approaches have been proposed to address this…

Continual learning (CL) empowers AI systems to progressively acquire knowledge from non-stationary data streams. However, catastrophic forgetting remains a critical challenge. In this work, we identify attention drift in Vision Transformers…

In medical imaging, technical progress or changes in diagnostic procedures lead to a continuous change in image appearance. Scanner manufacturer, reconstruction kernel, dose, other protocol specific settings or administering of contrast…

Loop closing is a crucial component in SLAM that helps eliminate accumulated errors through two main steps: loop detection and loop pose correction. The first step determines whether loop closing should be performed, while the second…

Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map,…

We propose Motion-Compensated Latent Semantic Canvases (MCLSC) for visual situational awareness on resource-constrained edge devices. The core idea is to maintain persistent semantic metadata in two latent canvases - a slowly accumulating…

While multimodal large language models (MLLMs) have advanced video understanding, they remain highly prone to hallucinations in dynamic scenes. We argue this stems from a failure in spatio-temporal monitoring, the ability to persistently…

Autonomous-driving perception systems require robust Multi-Object Tracking (MOT) to operate reliably in dynamic environments. MOT maintains consistent object identities across frames while preserving spatial accuracy. Recent foundation…