相关论文: Bayesian Scale Estimation for Monocular SLAM Based…

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,…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

Recovering the absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation,…

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…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

As an inherently ill-posed problem, depth estimation from single images is the most challenging part of monocular 3D object detection (M3OD). Many existing methods rely on preconceived assumptions to bridge the missing spatial information…

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

We present a Deep Learning based system for the twin tasks of localization and obstacle avoidance essential to any mobile robot. Our system learns from conventional geometric SLAM, and outputs, using a single camera, the topological pose of…

Depth estimation from monocular images is a challenging problem in computer vision. In this paper, we tackle this problem using a novel network architecture using multi scale feature fusion. Our network uses two different blocks, first…

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…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…