相关论文: Visual SLAM: Why Bundle Adjust?

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

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…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

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 localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…

In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents $\nu$-DBA, a novel framework implementing geometric dense bundle…

Structure from motion (SfM) is an essential computer vision problem which has not been well handled by deep learning. One of the promising trends is to apply explicit structural constraint, e.g. 3D cost volume, into the network. However,…

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…

Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…

LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…

For SLAM to be safely deployed in unstructured real world environments, it must possess several key properties that are not encompassed by conventional benchmarks. In this paper we show that SLAM commutativity, that is, consistency in…

Accurate localization is essential for autonomous vehicles, yet sensor noise and drift over time can lead to significant pose estimation errors, particularly in long-horizon environments. A common strategy for correcting accumulated error…

SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem…

In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other…

This paper proposes a novel visual simultaneous localization and mapping (SLAM) system called Hybrid Depth-augmented Panoramic Visual SLAM (HDPV-SLAM), that employs a panoramic camera and a tilted multi-beam LiDAR scanner to generate…

Initialization is essential to monocular Simultaneous Localization and Mapping (SLAM) problems. This paper focuses on a novel initialization method for monocular SLAM based on planar features. The algorithm starts by homography estimation…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…