相关论文: Semantic Texture for Robust Dense Tracking

In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The former enables our system to represent the dynamics of the…

LiDAR loop closure detection (LCD) is crucial for consistent Simultaneous Localization and Mapping (SLAM) but faces challenges in robustness and accuracy. Existing methods, including semantic graph approaches, often suffer from coarse…

This work addresses the critical problem of tracking fast-moving objects through strongly scattering media in a low-light environment. Different from existing approaches that use frame-based cameras with fixed exposure times, which trade…

In computer vision, convolutional neural networks (CNNs) have recently achieved new levels of performance for several inverse problems where RGB pixel appearance is mapped to attributes such as positions, normals or reflectance. In computer…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…

Sequence-based place recognition methods for all-weather navigation are well-known for producing state-of-the-art results under challenging day-night or summer-winter transitions. These systems, however, rely on complex handcrafted…

Recently recurrent neural networks (RNNs) have demonstrated the ability to improve scene labeling through capturing long-range dependencies among image units. In this paper, we propose dense RNNs for scene labeling by exploring various…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

Estimating dense correspondences between images is a long-standing image under-standing task. Recent works introduce convolutional neural networks (CNNs) to extract high-level feature maps and find correspondences through feature matching.…

Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to…

Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…

Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that…

In this work we introduce a novel, CNN-based architecture that can be trained end-to-end to deliver seamless scene segmentation results. Our goal is to predict consistent semantic segmentation and detection results by means of a panoptic…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…