相关论文: MaskFusion: Real-Time Recognition, Tracking and Re…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

In the realm of computer vision, the integration of advanced techniques into the processing of RGB-D camera inputs poses a significant challenge, given the inherent complexities arising from diverse environmental conditions and varying…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses. 6D pose estimation is an open challenge due to complex world…

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…

Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead to a major drop, preventing the use of semantic mapping in…

Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

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…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors or monocular views,…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…