相关论文: GODSAC*: Graph Optimized DSAC* for Robot Relocaliz…

Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…

Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

We present DenseRaC, a novel end-to-end framework for jointly estimating 3D human pose and body shape from a monocular RGB image. Our two-step framework takes the body pixel-to-surface correspondence map (i.e., IUV map) as proxy…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

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…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous…

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…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Traditional Simultaneous Localization and Mapping (SLAM) algorithms rely heavily on the static environment assumption, which severely limits their applicability in real-world spaces populated by moving entities, such as pedestrians. In this…

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…

Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…