相关论文: Loop Closure Detection with RGB-D Feature Pyramid …

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…

Percolation theory serves as a cornerstone for studying phase transitions and critical phenomena, with broad implications in statistical physics, materials science, and complex networks. However, most machine learning frameworks for…

Although the recent progress in the deep neural network has led to the development of learnable local feature descriptors, there is no explicit answer for estimation of the necessary size of a neural network. Specifically, the local feature…

Self-localization during navigation with noisy sensors in an ambiguous world is computationally challenging, yet animals and humans excel at it. In robotics, Simultaneous Location and Mapping (SLAM) algorithms solve this problem though…

Training deep learning models in technical domains is often accompanied by the challenge that although the task is clear, insufficient data for training is available. In this work, we propose a novel approach based on the combination of…

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…

RGB-D SOD uses depth information to handle challenging scenes and obtain high-quality saliency maps. Existing state-of-the-art RGB-D saliency detection methods overwhelmingly rely on the strategy of directly fusing depth information.…

Semi-supervised semantic segmentation (SSS) is an important task that utilizes both labeled and unlabeled data to reduce expenses on labeling training examples. However, the effectiveness of SSS algorithms is limited by the difficulty of…

Loop closure detection is an essential tool of Simultaneous Localization and Mapping (SLAM) to minimize drift in its localization. Many state-of-the-art loop closure detection (LCD) algorithms use visual Bag-of-Words (vBoW), which is robust…

Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

In this paper, we propose a new text recognition model based on measuring the visual similarity of text and predicting the content of unlabeled texts. First a Siamese convolutional network is trained with deep supervision on a labeled…

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…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

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…

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…

Siamese networks are one of the most trending methods to achieve self-supervised visual representation learning (SSL). Since hand labeling is costly, SSL can play a crucial part by allowing deep learning to train on large unlabeled…