相关论文: Online Visual Place Recognition via Saliency Re-id…

LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…

We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic and…

Visual SLAM with thermal imagery, and other low contrast visually degraded environments such as underwater, or in areas dominated by snow and ice, remain a difficult problem for many state of the art (SOTA) algorithms. In addition to…

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…

Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation but provide no means of registering the local map to a…

Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Traditional Visual Simultaneous Localization and Mapping (VSLAM) systems assume a static environment, which makes them ineffective in highly dynamic settings. To overcome this, many approaches integrate semantic information from deep…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…

Salient object detection has been attracting a lot of interest, and recently various heuristic computational models have been designed. In this paper, we formulate saliency map computation as a regression problem. Our method, which is based…

Visual Place Recognition aims at recognizing previously visited places by relying on visual clues, and it is used in robotics applications for SLAM and localization. Since typically a mobile robot has access to a continuous stream of…

Location retrieval based on visual information is to retrieve the location of an agent (e.g. human, robot) or the area they see by comparing the observations with a certain form of representation of the environment. Existing methods…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

With the ever-growing variety of object detection approaches, this study explores a series of experiments that combine reinforcement learning (RL)-based visual attention methods with saliency ranking techniques to investigate transparent…

Visual saliency, which predicts regions in the field of view that draw the most visual attention, has attracted a lot of interest from researchers. It has already been used in several vision tasks, e.g., image classification, object…

In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…

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…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…