相关论文: Deep-SLAM++: Object-level RGBD SLAM based on class…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

Neural implicit representations have recently demonstrated considerable potential in the field of visual simultaneous localization and mapping (SLAM). This is due to their inherent advantages, including low storage overhead and…

We present DropD-SLAM, a real-time monocular SLAM system that achieves RGB-D-level accuracy without relying on depth sensors. The system replaces active depth input with three pretrained vision modules: a monocular metric depth estimator, a…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

The emergence of modern RGB-D sensors had a significant impact in many application fields, including robotics, augmented reality (AR) and 3D scanning. They are low-cost, low-power and low-size alternatives to traditional range sensors such…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

We present a new paradigm for real-time object-oriented SLAM with a monocular camera. Contrary to previous approaches, that rely on object-level models, we construct category-level models from CAD collections which are now widely available.…

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…

The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…

Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

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 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…

Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to…

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural…

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…

Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

The research in dense online 3D mapping is mostly focused on the geometrical accuracy and spatial extent of the reconstructions. Their color appearance is often neglected, leading to inconsistent colors and noticeable artifacts. We rectify…