相关论文: Pose Correction Algorithm for Relative Frames betw…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…
Aiming at the application environment of indoor mobile robots, this paper proposes a sparse object-level SLAM algorithm based on an RGB-D camera. A quadric representation is used as a landmark to compactly model objects, including their…
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…
In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice…
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,…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
A key component of Visual Simultaneous Localization and Mapping (VSLAM) is estimating relative camera poses using matched keypoints. Accurate estimation is challenged by noisy correspondences. Classical methods rely on stochastic hypothesis…
The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping(SLAM). This work proposes a system for robustly optimizing the pose of…
Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…
Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…