相关论文: Constructing Category-Specific Models for Monocula…

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…

View-predictive generative models provide strong priors for lifting object-centric images and videos into 3D and 4D through rendering and score distillation objectives. A question then remains: what about lifting complete multi-object…

This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…

Unsupervised multi-object segmentation has shown impressive results on images by utilizing powerful semantics learned from self-supervised pretraining. An additional modality such as depth or motion is often used to facilitate the…

In this paper, we use 2D object detections from multiple views to simultaneously estimate a 3D quadric surface for each object and localize the camera position. We derive a SLAM formulation that uses dual quadrics as 3D landmark…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from…

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…

Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…

We present a slot-wise, object-based transition model that decomposes a scene into objects, aligns them (with respect to a slot-wise object memory) to maintain a consistent order across time, and predicts how those objects evolve over…

Object-level SLAM introduces semantic meaningful and compact object landmarks that help both indoor robot applications and outdoor autonomous driving tasks. However, the back end of object-level SLAM suffers from singularity problems…

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…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

Simultaneous localization and mapping, as a fundamental task in computer vision, has gained higher demands for performance in recent years due to the rapid development of autonomous driving and unmanned aerial vehicles. Traditional SLAM…

We propose a dense neural simultaneous localization and mapping (SLAM) approach for monocular RGBD input which anchors the features of a neural scene representation in a point cloud that is iteratively generated in an input-dependent…

We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

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…