相关论文: FlowFusion: Dynamic Dense RGB-D SLAM Based on Opti…

This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes,…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

Leveraging neural implicit representation to conduct dense RGB-D SLAM has been studied in recent years. However, this approach relies on a static environment assumption and does not work robustly within a dynamic environment due to the…

In this paper, a simultaneous localization and mapping (SLAM) method that eliminates the influence of moving objects in dynamic environments is proposed. This method utilizes the correlation between map points to separate points that are…

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…