相关论文: Good Feature Selection for Least Squares Pose Opti…

Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…

Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…

Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

This paper presents an optimal calibration scheme and a weighted least squares (LS) localization algorithm for received signal strength (RSS) based visible light positioning (VLP) systems, focusing on the often overlooked impact of light…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based…

It is one typical and general topic of learning a good embedding model to efficiently learn the representation coefficients between two spaces/subspaces. To solve this task, $L_{1}$ regularization is widely used for the pursuit of feature…

Optimization of sensor selection has been studied to monitor complex and large-scale systems with data-driven linear reduced-order modeling. An algorithm for greedy sensor selection is presented under the assumption of correlated noise in…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

This paper is concerned with the approximation of a function $u$ in a given approximation space $V_m$ of dimension $m$ from evaluations of the function at $n$ suitably chosen points. The aim is to construct an approximation of $u$ in $V_m$…

Multiview camera setups have proven useful in many computer vision applications for reducing ambiguities, mitigating occlusions, and increasing field-of-view coverage. However, the high computational cost associated with multiple views…

Existing solutions to visual simultaneous localization and mapping (V-SLAM) assume that errors in feature extraction and matching are independent and identically distributed (i.i.d), but this assumption is known to not be true -- features…

Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or visually degraded environments (e.g., plain walls or low lighting) lead to poor pose estimation and track loss. However, robots are…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

Zero-shot learning, which aims to recognize new categories that are not included in the training set, has gained popularity owing to its potential ability in the real-word applications. Zero-shot learning models rely on learning an…

Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…