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

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…

We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…

In this work, we propose SAM3D, a novel framework that is able to predict masks in 3D point clouds by leveraging the Segment-Anything Model (SAM) in RGB images without further training or finetuning. For a point cloud of a 3D scene with…

This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…

Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Infrared and visible image fusion has garnered considerable attention owing to the strong complementarity of these two modalities in complex, harsh environments. While deep learning-based fusion methods have made remarkable advances in…

Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…

In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…

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…

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…