相关论文: FootSLAM meets Adaptive Thresholding

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Stability selection has gained popularity as a method for enhancing the performance of variable selection algorithms while controlling false discovery rates. However, achieving these desirable properties depends on correctly specifying the…

Despite recent progress in calibration-free monocular SLAM via 3D vision foundation models, scale drift remains severe on long sequences. Motion-agnostic partitioning breaks contextual coherence and causes zero-motion drift, while…

We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation of the SLAM problem as an incrementally growing factor…

In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…

In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local…

The task of inertial sensor calibration has required the development of various techniques to take into account the sources of measurement error coming from such devices. The calibration of the stochastic errors of these sensors has been…

Soft-thresholding is a sparse modeling method that is typically applied to wavelet denoising in statistical signal processing and analysis. It has a single parameter that controls a threshold level on wavelet coefficients and,…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…

Estimating the mixing density of a latent mixture model is an important task in signal processing. Nonparametric maximum likelihood estimation is one popular approach to this problem. If the latent variable distribution is assumed to be…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

We introduce an adaptive method with formal quality guarantees for weak supervision in a non-stationary setting. Our goal is to infer the unknown labels of a sequence of data by using weak supervision sources that provide independent noisy…

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…

Existing drift detection methods focus on designing sensitive test statistics. They treat the detection threshold as a fixed hyperparameter, set once to balance false alarms and late detections, and applied uniformly across all datasets and…

Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…

Properties of ocular fixations and saccades are highly stochastic during many experimental tasks, and their statistics are often used as proxies for various aspects of cognition. Although distinguishing saccades from fixations is not…