相关论文: Integrating Objects into Monocular SLAM: Line Base…
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map…
Understanding geometric, semantic, and instance information in 3D scenes from sequential video data is essential for applications in robotics and augmented reality. However, existing Simultaneous Localization and Mapping (SLAM) methods…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
Object reconstruction from a single image -- in the wild -- is a problem where we can make progress and get meaningful results today. This is the main message of this paper, which introduces an automated pipeline with pixels as inputs and…
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…
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…
We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
In computer-aided design (CAD) systems, 2D line drawings are commonly used to illustrate 3D object designs. To reconstruct the 3D models depicted by a single 2D line drawing, an important key is finding the edge loops in the line drawing…
Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…
For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…
This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…
Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…
Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…
Without using extra 3-D data like points cloud or depth images for providing 3-D information, we retrieve the 3-D object information from single monocular images. The high-quality predicted depth images are recovered from single monocular…
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information…
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…
Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environments and when scenes change. We present Semantic Enhancement…