相关论文: Training Deep SLAM on Single Frames

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…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

In this paper we present a data-driven approach to obtain the static image of a scene, eliminating dynamic objects that might have been present at the time of traversing the scene with a camera. The general objective is to improve…

In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…

Vision-based sensors have shown significant performance, accuracy, and efficiency gain in Simultaneous Localization and Mapping (SLAM) systems in recent years. In this regard, Visual Simultaneous Localization and Mapping (VSLAM) methods…

Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…

Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

We present the first learning-based visual odometry (VO) model, which generalizes to multiple datasets and real-world scenarios and outperforms geometry-based methods in challenging scenes. We achieve this by leveraging the SLAM dataset…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

We propose a self-supervised approach for training multi-frame video denoising networks. These networks predict frame t from a window of frames around t. Our self-supervised approach benefits from the video temporal consistency by…

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…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…

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.…