相关论文: RGB-D SLAM with Structural Regularities

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…

3D Gaussian Splatting has emerged as a powerful representation of geometry and appearance for RGB-only dense Simultaneous Localization and Mapping (SLAM), as it provides a compact dense map representation while enabling efficient and…

High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…

Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…

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…

In feature-based simultaneous localization and mapping (SLAM), line features complement the sparsity of point features, making it possible to map the surrounding environment structure. Existing approaches utilizing line features have…

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…

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…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…