相关论文: View management for lifelong visual maps

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM…

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…

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,…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

Multiple-view visualization (MV) has been used for visual analytics in various fields (e.g., bioinformatics, cybersecurity, and intelligence analysis). Because each view encodes data from a particular perspective, analysts often use a set…

Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Visual simultaneous localization and mapping (vSLAM) and 3D reconstruction methods have gone through impressive progress. These methods are very promising for autonomous vehicle and consumer robot applications because they can map…

The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…

Visual SLAM is a key technology for many autonomous systems. However, tracking loss can lead to the creation of disjoint submaps in multimap SLAM systems like ORB-SLAM3. Because of that, these systems employ submap merging strategies. As we…

Many computer vision and medical imaging problems are faced with learning from large-scale datasets, with millions of observations and features. In this paper we propose a novel efficient learning scheme that tightens a sparsity constraint…

In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…

We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…

For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation…

We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…