相关论文: PlaneMatch: Patch Coplanarity Prediction for Robus…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

This paper focuses on designing data-driven models to learn a discriminant representation space for face recognition using RGB-D data. Unlike hand-crafted representations, learned models can extract and organize the discriminant information…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

We introduce a robust framework, RGBTrack, for real-time 6D pose estimation and tracking that operates solely on RGB data, thereby eliminating the need for depth input for such dynamic and precise object pose tracking tasks. Building on the…

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…

The choice of scene representation is crucial in both the shape inference algorithms it requires and the smart applications it enables. We present efficient and optimisable multi-class learned object descriptors together with a novel…

Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geometric cues alone (e.g., covisibility graphs), limiting their…

Most of the state-of-the-art indirect visual SLAM methods are based on the sparse point features. However, it is hard to find enough reliable point features for state estimation in the case of low-textured scenes. Line features are abundant…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

We propose a novel approach to reconstruct RGB-D indoor scene based on plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed from it, and generates a lightweight, low-polygonal mesh with clear…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

In this paper we propose a new approach for learning local descriptors for matching image patches. It has recently been demonstrated that descriptors based on convolutional neural networks (CNN) can significantly improve the matching…