Related papers: Accelerating Transformer-Based Monocular SLAM via …

The limited robustness of 3D Gaussian Splatting (3DGS) to motion blur and camera noise, along with its poor real-time performance, restricts its application in robotic SLAM tasks. Upon analysis, the primary causes of these issues are the…

LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…

We introduce GateSkip, a simple residual-stream gating mechanism that enables token-wise layer skipping in decoder-only LMs. Each Attention/MLP branch is equipped with a sigmoid-linear gate that condenses the branch's output before it…

Predicting saliency in videos is a challenging problem due to complex modeling of interactions between spatial and temporal information, especially when ever-changing, dynamic nature of videos is considered. Recently, researchers have…

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…

We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…

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…

Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nevertheless, existing methods either heavily rely on known…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

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…

Generalized zero-shot learning (GZSL) aims at training a model that can generalize to unseen class data by only using auxiliary information. One of the main challenges in GZSL is a biased model prediction toward seen classes caused by…

We propose GeoFusion, a SLAM-based scene estimation method for building an object-level semantic map in dense clutter. In dense clutter, objects are often in close contact and severe occlusions, which brings more false detections and noisy…

3D Gaussian Splatting has emerged as a promising technique for high-quality 3D rendering, leading to increasing interest in integrating 3DGS into realism SLAM systems. However, existing methods face challenges such as Gaussian primitives…

Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…

Sliding Window Sum algorithms have been successfully used for training and inference of Deep Neural Networks. We have shown before how both pooling and convolution 1-D primitives could be expressed as sliding sums and evaluated by the…

As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…

The deployment of large language models (LLMs) is often constrained by memory bandwidth, where the primary bottleneck is the cost of transferring model parameters from the GPU's global memory to its registers. When coupled with custom…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Dense SLAM based on monocular cameras does indeed have immense application value in the field of AR/VR, especially when it is performed on a mobile device. In this paper, we propose a novel method that integrates a light-weight depth…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…