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

Online reconstruction based on RGB-D sequences has thus far been restrained to relatively slow camera motions (<1m/s). Under very fast camera motion (e.g., 3m/s), the reconstruction can easily crumble even for the state-of-the-art methods.…

Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reconstruction during motion. However, existing methods struggle in dynamic environments,…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle to achieve. However, existing GS-SLAM systems perform poorly…

3D Gaussian Splatting (3DGS) has become a popular solution in SLAM, as it can produce high-fidelity novel views. However, previous GS-based methods primarily target indoor scenes and rely on RGB-D sensors or pre-trained depth estimation…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…

Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…

Considering the scene's dynamics is the most effective solution to obtain an accurate perception of unknown environments for real vSLAM applications. Most existing methods attempt to address the non-rigid scene assumption by combining…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…

There have been significant advancements in dynamic novel view synthesis in recent years. However, current deep learning models often require (1) prior models (e.g., SMPL human models), (2) heavy pre-processing, or (3) per-scene…

We present ReFlow, a unified framework for monocular dynamic scene reconstruction that learns 3D motion in a novel self-correction manner from raw video. Existing methods often suffer from incomplete scene initialization for dynamic…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…