相关论文: Point-line-based RGB-D SLAM and Bundle Adjustment …

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

We describe a new method for comparing frame appearance in a frame-to-model 3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camera which is robust to brightness changes caused by auto exposure. It is based on a…

Indoor scene images usually contain scattered objects and various scene layouts, which make RGB-D scene classification a challenging task. Existing methods still have limitations for classifying scene images with great spatial variability.…

Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as poor lighting,…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

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.…

Leveraging line features to improve localization accuracy of point-based visual-inertial SLAM (VINS) is gaining interest as they provide additional constraints on scene structure. However, real-time performance when incorporating line…

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…

Autonomous agents that rely purely on perception to make real-time control decisions require efficient and robust architectures. In this work, we demonstrate that augmenting RGB input with depth information significantly enhances our…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes,…

Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window…