相关论文: LiPo-LCD: Combining Lines and Points for Appearanc…

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 Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work in common environments such as corridors, tunnels, and…

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…

In automated driving, highly accurate maps are commonly used to support and complement perception. These maps are costly to create and quickly become outdated as the traffic world is permanently changing. In order to support or replace the…

Lines provide the significantly richer geometric structural information about the environment than points, so lines are widely used in recent Visual Odometry (VO) works. Since VO with lines use line tracking results to locate and map, line…

We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high accuracy and robustness. LVI-SAM is built atop a factor graph…

Non-line-of-sight (NLOS) imaging is an emerging technique for detecting objects behind obstacles or around corners. Recent studies on passive NLOS mainly focus on steady-state measurement and reconstruction methods, which show limitations…

Fine-grained image retrieval, which aims to find images containing specific object components and assess their detailed states, is critical in fields like security and industrial inspection. However, conventional methods face significant…

In this paper, we present a new fault diagnosis (FD) -based approach for detection of imagery changes that can detect significant changes as inconsistencies between different sub-modules (e.g., self-localizaiton) of visual SLAM. Unlike…

In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use semantic registration to estimate the 6 DoF relative pose…

Imaging radar is an emerging sensor modality in the context of Localization and Mapping (SLAM), especially suitable for vision-obstructed environments. This article investigates the use of 4D imaging radars for SLAM and analyzes the…

Generating crisp, i.e., one-pixel-wide, edge maps remains one of the fundamental challenges in edge detection, affecting both traditional and learning-based methods. To obtain crisp edges, most existing approaches rely on two hand-crafted…

LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…

This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single monocular camera and an…

Loop Closure Detection (LCD) is an essential task in robotics and computer vision, serving as a fundamental component for various applications across diverse domains. These applications encompass object recognition, image retrieval, and…