相关论文: Efficient two step optimization for large embedded…

In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…

In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…

Distributed statistical learning has become a popular technique for large-scale data analysis. Most existing work in this area focuses on dividing the observations, but we propose a new algorithm, DDAC-SpAM, which divides the features under…

Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…

This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…

Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments remains challenging. Most methods directly remove dynamic…

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…

Objective: Deformable image registration is a fundamental problem in medical image analysis, with applications such as longitudinal studies, population modeling, and atlas based image segmentation. Registration is often phrased as an…

Simultaneous localization and mapping (SLAM) based on particle filtering has been extensively employed in indoor scenarios due to its high efficiency. However, in geometry feature-less scenes, the accuracy is severely reduced due to lack of…

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…

We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D…

Graph Neural Networks (GNN) exhibit superior performance in graph representation learning, but their inference cost can be high, due to an aggregation operation that can require a memory fetch for a very large number of nodes. This…

Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and…

The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…

In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…

Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction…

Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…

Graph learning is often a necessary step in processing or representing structured data, when the underlying graph is not given explicitly. Graph learning is generally performed centrally with a full knowledge of the graph signals, namely…