相关论文: Simultaneous Detection of Loop-Closures and Change…

Most real-time autonomous robot applications require a robot to traverse through a dynamic space for a long time. In some cases, a robot needs to work in the same environment. Such applications give rise to the problem of a life-long SLAM…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

There is a general expectation that robots should operate in environments that consist of static and dynamic entities including people, furniture and automobiles. These dynamic environments pose challenges to visual simultaneous…

In visual Simultaneous Localization And Mapping (SLAM), detecting loop closures has been an important but difficult task. Currently, most solutions are based on the bag-of-words approach. Yet the possibility of deep neural network…

To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…

In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop closure…

Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Change detection (CD) is an important yet challenging task in the Earth observation field for monitoring Earth surface dynamics. The advent of deep learning techniques has recently propelled automatic CD into a technological revolution.…

Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying illumination conditions often degrade performance. Existing…

Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recog- nition applications to outperform by a significant margin state- of-the-art solutions that use traditional hand-crafted features.…

Image change detection (ICD) to detect changed objects in front of a vehicle with respect to a place-specific background model using an on-board monocular vision system is a fundamental problem in intelligent vehicle (IV). From the…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…

Change detection (CD) in remote sensing is vital for applications such as urban monitoring and disaster assessment, yet traditional methods struggle with generalization across diverse scenarios. We present OmniCD, a foundational framework…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

Industrial anomaly detection (IAD) plays a crucial role in the maintenance and quality control of manufacturing processes. In this paper, we propose a novel approach, Vision-Language Anomaly Detection via Contrastive Cross-Modal Training…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC$^2$-SLAM. We argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…