相关论文: Greedy-Based Feature Selection for Efficient LiDAR…

Recently, the philosophy of visual saliency and attention has started to gain popularity in the robotics community. Therefore, this paper aims to mimic this mechanism in SLAM framework by using saliency prediction model. Comparing with…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

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…

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tightly coupled LiDAR-Inertial 3D SLAM framework with plane…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Routine and repetitive infrastructure inspections present safety, efficiency, and consistency challenges as they are performed manually, often in challenging or hazardous environments. They can also introduce subjectivity and errors into…

The flexibility of Simultaneous Localization and Mapping (SLAM) algorithms in various environments has consistently been a significant challenge. To address the issue of LiDAR odometry drift in high-noise settings, integrating clustering…

There are many problems in machine learning and data mining which are equivalent to selecting a non-redundant, high "quality" set of objects. Recommender systems, feature selection, and data summarization are among many applications of…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

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…

Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…

Learning of low-rank matrices is fundamental to many machine learning applications. A state-of-the-art algorithm is the rank-one matrix pursuit (R1MP). However, it can only be used in matrix completion problems with the square loss. In this…

In this paper, we propose a new framework for designing fast parallel algorithms for fundamental statistical subset selection tasks that include feature selection and experimental design. Such tasks are known to be weakly submodular and are…

We study two model selection settings in stochastic linear bandits (LB). In the first setting, which we refer to as feature selection, the expected reward of the LB problem is in the linear span of at least one of $M$ feature maps (models).…

Coordinate descent with random coordinate selection is the current state of the art for many large scale optimization problems. However, greedy selection of the steepest coordinate on smooth problems can yield convergence rates independent…

The selection problem of an optimal set of sensors estimating the snapshot of high-dimensional data is considered. The objective functions based on various criteria of optimal design are adopted to the greedy method: D-optimality,…

We present an efficient incremental SLAM back-end that achieves the accuracy of full batch optimization while substantially reducing computational cost. The proposed approach combines two complementary ideas: information-guided gating (IGG)…

Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…