相关论文: Monocular Visual Teach and Repeat Aided by Local G…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

Classical Visual Simultaneous Localization and Mapping (VSLAM) algorithms can be easily induced to fail when either the robot's motion or the environment is too challenging. The use of Deep Neural Networks to enhance VSLAM algorithms has…

Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…

With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…

Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

Existing monocular depth estimation methods have achieved excellent robustness in diverse scenes, but they can only retrieve affine-invariant depth, up to an unknown scale and shift. However, in some video-based scenarios such as video…

Agricultural robots are serving as powerful assistants across a wide range of agricultural tasks, nevertheless, still heavily relying on manual operations or railway systems for movement. The AgriVLN method and the A2A benchmark…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…

Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…

Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offers a reliable and cost-effective solution by avoiding the…

Recent research has highlighted the utility of Planar Parallax Geometry in monocular depth estimation. However, its potential has yet to be fully realized because networks rely heavily on appearance for depth prediction. Our in-depth…

Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study,…

Multi-view geometry-based methods dominate the last few decades in monocular Visual Odometry for their superior performance, while they have been vulnerable to dynamic and low-texture scenes. More importantly, monocular methods suffer from…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for…

Teach and Repeat (T&R) topometric navigation enables robots to autonomously repeat previously traversed paths without relying on GPS, making it well suited for operations in GPS-denied environments such as underground mines and lunar…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…