相关论文: Real-time 3D Reconstruction on Construction Site u…
Visual inspection is the predominant technique for evaluating the condition of civil infrastructure. The recent advances in unmanned aerial vehicles (UAVs) and artificial intelligence have made the visual inspections faster, safer, and more…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
We present a novel neural RGB-D Simultaneous Localization And Mapping (SLAM) system that learns an implicit map of the scene in real time. For the first time, we explore the use of Scene Coordinate Regression (SCR) as the core implicit map…
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from computationally intensive processes like…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…
Realistic simulation is key to enabling safe and scalable development of % self-driving vehicles. A core component is simulating the sensors so that the entire autonomy system can be tested in simulation. Sensor simulation involves modeling…
Monitoring construction progress is crucial yet resource-intensive, prompting the exploration of computer-vision-based methodologies for enhanced efficiency and scalability. Traditional data acquisition methods, primarily focusing on indoor…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooperation enables a UAV to deploy a compact UGV for interior…
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…
We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for…
Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…
The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
Localization is one of the most important technologies needed to use Unmanned Aerial Vehicles (UAVs) in actual fields. Currently, most UAVs use GNSS to estimate their position. Recently, there have been attacks that target the weaknesses of…