相关论文: RISE-SLAM: A Resource-aware Inverse Schmidt Estima…

In this paper, we present BAMF-SLAM, a novel multi-fisheye visual-inertial SLAM system that utilizes Bundle Adjustment (BA) and recurrent field transforms (RFT) to achieve accurate and robust state estimation in challenging scenarios.…

Compute-in-memory (CiM) is a promising approach to improving the computing speed and energy efficiency in dataintensive applications. Beyond existing CiM techniques of bitwise logic-in-memory operations and dot product operations, this…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…

Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that…

We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

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…

Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understanding of success and failure cases. However, discrete-time SLAM…

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…

Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…

We present a robust visual-inertial SLAM system that combines the benefits of Convolutional Neural Networks (CNNs) and planar constraints. Our system leverages a CNN to predict the depth map and the corresponding uncertainty map for each…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…

The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…

The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor. Feature-based and direct methods are two mainstreams in visual SLAM. Both methods…

We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…

The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…