相关论文: Photometric Bundle Adjustment for Vision-Based SLA…

Many visual simultaneous localization and mapping (SLAM) systems have been shown to be accurate and robust, and have real-time performance capabilities on both indoor and ground datasets. However, these methods can be problematic when…

In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…

In this paper we tackle the problem of learning Structure-from-Motion (SfM) through the use of graph attention networks. SfM is a classic computer vision problem that is solved though iterative minimization of reprojection errors, referred…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…

Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…

In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…

Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…

In this paper we propose a proximal algorithm for minimizing an objective function of two block variables consisting of three terms: 1) a smooth function, 2) a nonsmooth function which is a composition between a strictly increasing,…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper we build on the initialization method proposed by…

The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages,…

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…

LiDAR bundle adjustment (BA) is an effective approach to reduce the drifts in pose estimation from the front-end. Existing works on LiDAR BA usually rely on predefined geometric features for landmark representation. This reliance restricts…

This paper discusses the challenges of evaluating deblurring-methods quality and proposes a reduced-reference metric based on machine learning. Traditional quality-assessment metrics such as PSNR and SSIM are common for this task, but not…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…