相关论文: Multi-modal Tracking for Object based SLAM

Tracking 3D human motion from egocentric multi-camera headset is challenged by severe egomotion, partial visibility or occlusions and lack of training data. Existing methods designed for monocular video often require static or slowly-moving…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

Many applications of Visual SLAM, such as augmented reality, virtual reality, robotics or autonomous driving, require versatile, robust and precise solutions, most often with real-time capability. In this work, we describe OV$^{2}$SLAM, a…

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

This paper presents a long-term object tracking framework with a moving event camera under general tracking conditions. A first of its kind for these revolutionary cameras, the tracking framework uses a discriminative representation for the…

We present SpatialTrackerV2, a feed-forward 3D point tracking method for monocular videos. Going beyond modular pipelines built on off-the-shelf components for 3D tracking, our approach unifies the intrinsic connections between point…

Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…

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…

3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Multi-object tracking (MOT) is a fundamental task in computer vision that requires continuously tracking multiple targets while maintaining consistent identities across frames. However, most existing approaches primarily rely on…

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for…

Recent progress in scene synthesis makes standalone SLAM systems purely based on optimizing hyperprimitives with a Rendering objective possible. However, the tracking performance still lacks behind traditional and end-to-end SLAM systems.…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

In this paper, we focus on the multi-object tracking (MOT) problem of automatic driving and robot navigation. Most existing MOT methods track multiple objects using a singular RGB camera, which are prone to camera field-of-view and suffer…

Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors. Traditional appearance-based methods, such as bag-of-words models, are often limited by local 2D features and the volume…