相关论文: Direct Visual Odometry using Bit-Planes

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

Binary feature descriptors have been widely used in various visual measurement tasks, particularly those with limited computing resources and storage capacities. Existing binary descriptors may not perform well for long-term visual…

The present paper reviews the classical problem of free-form curve registration and applies it to an efficient RGBD visual odometry system called Canny-VO, as it efficiently tracks all Canny edge features extracted from the images. Two…

We present HybVIO, a novel hybrid approach for combining filtering-based visual-inertial odometry (VIO) with optimization-based SLAM. The core of our method is highly robust, independent VIO with improved IMU bias modeling, outlier…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios.…

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…

Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…

The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tightly coupled LiDAR-Inertial 3D SLAM framework with plane…

In this paper, we propose a fast deep learning method for object saliency detection using convolutional neural networks. In our approach, we use a gradient descent method to iteratively modify the input images based on the pixel-wise…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…

Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle…

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural…

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error…

In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…