相关论文: CNN-SLAM: Real-time dense monocular SLAM with lear…

This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…

Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…

This paper aims at understanding the role of multi-scale information in the estimation of depth from monocular images. More precisely, the paper investigates four different deep CNN architectures, designed to explicitly make use of…

Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map…

We argue that robust dense SLAM systems can make valuable use of the layers of features coming from a standard CNN as a pyramid of `semantic texture' which is suitable for dense alignment while being much more robust to nuisance factors…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Objective: Depth estimation is crucial for endoscopic navigation and manipulation, but obtaining ground-truth depth maps in real clinical scenarios, such as the colon, is challenging. This study aims to develop a robust framework that…

This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system…

Monocular depth estimation, which plays a key role in understanding 3D scene geometry, is fundamentally an ill-posed problem. Existing methods based on deep convolutional neural networks (DCNNs) have examined this problem by learning…

Seven million people suffer surgical complications each year, but with sufficient surgical training and review, 50\% of these complications could be prevented. To improve surgical performance, existing research uses various deep learning…

We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is robust on in-the-wild video sequences despite making no…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…