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

We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…

We propose Unblur-SLAM, a novel RGB SLAM pipeline for sharp 3D reconstruction from blurred image inputs. In contrast to previous work, our approach is able to handle different types of blur and demonstrates state-of-the-art performance in…

Deblurring can not only provide visually more pleasant pictures and make photography more convenient, but also can improve the performance of objection detection as well as tracking. However, removing dynamic scene blur from images is a…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…

Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, previous works in this direction either rely on RGB-D sensors, or require a separate…

3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…

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…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Volumetric reconstruction of dynamic scenes is an important problem in computer vision. It is especially challenging in poor lighting and with fast motion. This is partly due to limitations of RGB cameras: To capture frames under low…