相关论文: Stereo Plane SLAM Based on Intersecting Lines

This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…

Obtaining dense 3D reconstrution with low computational cost is one of the important goals in the field of SLAM. In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Active stereo vision is important in reconstructing objects without obvious textures. However, it is still very challenging to extract and match the projected patterns from two camera views automatically and robustly. In this paper, we…

Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…

Multiview stereo aims to reconstruct scene depth from images acquired by a camera under arbitrary motion. Recent methods address this problem through deep learning, which can utilize semantic cues to deal with challenges such as textureless…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

In this paper, a degeneracy avoidance method for a point and line based visual SLAM algorithm is proposed. Visual SLAM predominantly uses point features. However, point features lack robustness in low texture and illuminance variant…

In the real-life environments, due to the sudden appearance of windows, lights, and objects blocking the light source, the visual SLAM system can easily capture the low-contrast images caused by over-exposure or over-darkness. At this time,…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…

We propose a novel Line based parameterization for category specific CAD models. The proposed parameterization associates 3D category-specific CAD model and object under consideration using a dictionary based RANSAC method that uses object…

Roof plane segmentation from airborne LiDAR point clouds is an important technology for 3D building model reconstruction. One of the key issues of plane segmentation is how to design powerful features that can exactly distinguish adjacent…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

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…

Echocardiography plays an important part in diagnostic aid in cardiac diseases. A critical step in echocardiography-aided diagnosis is to extract the standard planes since they tend to provide promising views to present different structures…

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

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…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…