相关论文: Learning to Segment Dynamic Objects using SLAM Out…

The objective of this paper is motion segmentation -- discovering and segmenting the moving objects in a video. This is a much studied area with numerous careful, and sometimes complex, approaches and training schemes including:…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many methods have been proposed to deal with this problem; however, the…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

In this paper, we consider the problem of open-vocabulary semantic segmentation (OVS), which aims to segment objects of arbitrary classes instead of pre-defined, closed-set categories. The main contributions are as follows: First, we…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…

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…

The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Identifying salient points in images is a crucial component for visual odometry, Structure-from-Motion or SLAM algorithms. Recently, several learned keypoint methods have demonstrated compelling performance on challenging benchmarks.…

Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

This research paper focuses on the problem of dynamic objects and their impact on effective motion planning and localization. The paper proposes a two-step process to address this challenge, which involves finding the dynamic objects in the…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

In this paper, we tackle the detection of out-of-distribution (OOD) objects in semantic segmentation. By analyzing the literature, we found that current methods are either accurate or fast but not both which limits their usability in real…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…