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

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

In this letter, we present a neural field-based real-time monocular mapping framework for accurate and dense Simultaneous Localization and Mapping (SLAM). Recent neural mapping frameworks show promising results, but rely on RGB-D or pose…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in…

In this paper, we propose a deep convolutional neural network for learning the embeddings of images in order to capture the notion of visual similarity. We present a deep siamese architecture that when trained on positive and negative pairs…

Recent years have witnessed wide application of hashing for large-scale image retrieval. However, most existing hashing methods are based on hand-crafted features which might not be optimally compatible with the hashing procedure. Recently,…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

Despite the great success of Siamese-based trackers, their performance under complicated scenarios is still not satisfying, especially when there are distractors. To this end, we propose a novel Siamese relation network, which introduces…

Various hand-crafted features and metric learning methods prevail in the field of person re-identification. Compared to these methods, this paper proposes a more general way that can learn a similarity metric from image pixels directly. By…

The human visual system excels at detecting local blur of visual images, but the underlying mechanism is not well understood. Traditional views of blur such as reduction in energy at high frequencies and loss of phase coherence at localized…

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…

Self-supervised learning has become a popular way to pretrain a deep learning model and then transfer it to perform downstream tasks. However, most of these methods are developed on large-scale image datasets that contain natural objects…

Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties.…

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Loop-closure detection (LCD) in large non-stationary environments remains an important challenge in robotic visual simultaneous localization and mapping (vSLAM). To reduce computational and perceptual complexity, it is helpful if a vSLAM…

We propose a method of aligning a source image to a target image, where the transform is specified by a dense vector field. The two images are encoded as feature hierarchies by siamese convolutional nets. Then a hierarchy of aligner modules…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…