相关论文: An almost globally convergent observer for visual …

This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

Observability is a key aspect of the state estimation problem of SLAM, However, the dimension and variables of SLAM system might be changed with new features, to which little attention is paid in the previous work. In this paper, a unified…

We propose a standalone monocular visual Simultaneous Localization and Mapping (vSLAM) initialization pipeline for autonomous space robots. Our method, a state-of-the-art factor graph optimization pipeline, extends Structure from Small…

Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geometric foundation…

Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…

The accelerating pace in the automation of agricultural tasks demands highly accurate and robust localization systems for field robots. Simultaneous Localization and Mapping (SLAM) methods inevitably accumulate drift on exploratory…

Vision-based sensors have shown significant performance, accuracy, and efficiency gain in Simultaneous Localization and Mapping (SLAM) systems in recent years. In this regard, Visual Simultaneous Localization and Mapping (VSLAM) methods…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…

While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation…

In a recent paper [18] the authors proposed the first solution to the problem of designing a {\em globally exponentially stable} (GES) flux observer for the interior permanent magnet synchronous motor. However, the establishment of the…

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…

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…

Many applications of Visual SLAM, such as augmented reality, virtual reality, robotics or autonomous driving, require versatile, robust and precise solutions, most often with real-time capability. In this work, we describe OV$^{2}$SLAM, a…

In this paper we introduce an observer design framework for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with a certain…

Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (SLAM)-based…