相关论文: Real-time Monocular Visual Odometry for Turbid and…

Accurate and safety-quantifiable localization is of great significance for safety-critical autonomous systems, such as unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV). The visual odometry-based method can provide accurate…

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…

Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…

In recent years, with the rapid development of augmented reality (AR) technology, there is an increasing demand for multi-user collaborative experiences. Unlike for single-user experiences, ensuring the spatial localization of every user…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

Depth estimation plays a important role in SLAM, odometry, and autonomous driving. Especially, monocular depth estimation is profitable technology because of its low cost, memory, and computation. However, it is not a sufficiently…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very common. However, GNSS is not always…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In…

Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…

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…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…