相关论文: Visual SLAM: Why Bundle Adjust?

Bundle adjustment jointly optimizes camera intrinsics and extrinsics and 3D point triangulation to reconstruct a static scene. The triangulation constraint, however, is invalid for moving points captured in multiple unsynchronized videos…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Most methods for Bundle Adjustment (BA) in computer vision are either centralized or operate incrementally. This leads to poor scaling and affects the quality of solution as the number of images grows in large scale structure from motion…

Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) algorithm are limited by the bottleneck in solving the Reduced Camera System (RCS) whose dimension is proportional to the camera number. When the problem is scaled up,…

We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences. In contrast to traditional bundle adjustment (BA) where the optimal…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

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 present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…