Related papers: FastLoop: Parallel Loop Closing with GPU-Accelerat…
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…
Loop closure detection (LCD) is a core component of simultaneous localization and mapping (SLAM): it identifies revisited places and enables pose-graph constraints that correct accumulated drift. Classic bag-of-words approaches such as DBoW…
The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…
In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…
The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…
We present a visual simultaneous localization and mapping (SLAM) framework of closing surface loops. It combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and globally…
We introduce FastGraph, a novel GPU-optimized k-nearest neighbor algorithm specifically designed to accelerate graph construction in low-dimensional spaces (2-10 dimensions), critical for high-performance graph neural networks. Our method…
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…
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…
In this letter, we present a neural field-based real-time monocular mapping framework for accurate and dense Simultaneous Localization and Mapping (SLAM). Recent neural mapping frameworks show promising results, but rely on RGB-D or pose…
Reduction operations are extensively employed in many computational problems. A reduction consists of, given a finite set of numeric elements, combining into a single value all elements in that set, using for this a combiner function. A…
Panoramic video is a sort of video recorded at the same point of view to record the full scene. With the development of video surveillance and the requirement for 3D converged video surveillance in smart cities, CPU and GPU are required to…
GPUs have been widely used to accelerate computations exhibiting simple patterns of parallelism - such as flat or two-level parallelism - and a degree of parallelism that can be statically determined based on the size of the input dataset.…
Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…
Large industrial systems that combine services and applications, have become targets for cyber criminals and are challenging from the security, monitoring and auditing perspectives. Security log analysis is a key step for uncovering…
Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Witnessing the advancing scale and complexity of chip design and benefiting from high-performance computation technologies, the simulation of Very Large Scale Integration (VLSI) Circuits imposes an increasing requirement for acceleration…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Visual tracking is one of the most important application areas of computer vision. At present, most algorithms are mainly implemented on PCs, and it is difficult to ensure real-time performance when applied in the real scenario. In order to…