相关论文: A Photometrically Calibrated Benchmark For Monocul…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

Monocular simultaneous localisation and mapping (SLAM) is a cheap and energy efficient way to enable Unmanned Aerial Vehicles (UAVs) to safely navigate managed forests and gather data crucial for monitoring tree health. SLAM research,…

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…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

This paper presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visual odometry and SLAM, to advance the research in autonomous…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…

The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…

Leveraging multiple sensors enhances complex environmental perception and increases resilience to varying luminance conditions and high-speed motion patterns, achieving precise localization and mapping. This paper proposes, ECMD, an…

We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances in dense monocular SLAM and real-time hierarchical…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which…

SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…

We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

Real-time SLAM with dense 3D mapping is computationally challenging, especially on resource-limited devices. The recent development of 3D Gaussian Splatting (3DGS) offers a promising approach for real-time dense 3D reconstruction. However,…