相关论文: Fusion++: Volumetric Object-Level SLAM

Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

Seven million people suffer surgical complications each year, but with sufficient surgical training and review, 50\% of these complications could be prevented. To improve surgical performance, existing research uses various deep learning…

In this paper, we propose a lightweight system, RDS-SLAM, based on ORB-SLAM2, which can accurately estimate poses and build semantic maps at object level for dynamic scenarios in real time using only one commonly used Intel Core i7 CPU. In…

The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

This paper presents Volume-DROID, a novel approach for Simultaneous Localization and Mapping (SLAM) that integrates Volumetric Mapping and Differentiable Recurrent Optimization-Inspired Design (DROID). Volume-DROID takes camera images…

We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any…

Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…

We present DropD-SLAM, a real-time monocular SLAM system that achieves RGB-D-level accuracy without relying on depth sensors. The system replaces active depth input with three pretrained vision modules: a monocular metric depth estimator, a…

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…

Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…

We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though…

Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this direction fall short in terms of global consistency and low…