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

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

We investigate a new paradigm that uses differentiable SLAM architectures in a self-supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work…

In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…

Video Object Segmentation (VOS) is an active research area of the visual domain. One of its fundamental sub-tasks is semi-supervised / one-shot learning: given only the segmentation mask for the first frame, the task is to provide…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…

Reasoning Video Object Segmentation (ReasonVOS) is a challenging task that requires stable object segmentation across video sequences using implicit and complex textual inputs. Previous methods fine-tune Multimodal Large Language Models…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information. Different from previous methods using pixel-level depth maps, we propose employing…

Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…

Moving objects in scenes are still a severe challenge for the SLAM system. Many efforts have tried to remove the motion regions in the images by detecting moving objects. In this way, the keypoints belonging to motion regions will be…

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,…

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Detecting obstacles in railway scenarios is both crucial and challenging due to the wide range of obstacle categories and varying ambient conditions such as weather and light. Given the impossibility of encompassing all obstacle categories…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…