相关论文: SplitFusion: Simultaneous Tracking and Mapping for…

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…

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…

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 MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we present a novel dense RGB-D SLAM solution that…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…

Dynamic environments that include unstructured moving objects pose a hard problem for Simultaneous Localization and Mapping (SLAM) performance. The motion of rigid objects can be typically tracked by exploiting their texture and geometric…

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…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

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…

We introduce MIPS-Fusion, a robust and scalable online RGB-D reconstruction method based on a novel neural implicit representation -- multi-implicit-submap. Different from existing neural RGB-D reconstruction methods lacking either…

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…

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…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market…