相关论文: NF-iSAM: Incremental Smoothing and Mapping via Nor…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

We propose two novel approaches to the recovery of an (approximately) sparse signal from noisy linear measurements in the case that the signal is a priori known to be non-negative and obey given linear equality constraints, such as simplex…

Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…

An image articulation manifold (IAM) is the collection of images formed when an object is articulated in front of a camera. IAMs arise in a variety of image processing and computer vision applications, where they provide a natural…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…

We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captures 4D scenes from an online stream of color images 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…

The Gaussian graphical model (GGM) incorporates an undirected graph to represent the conditional dependence between variables, with the precision matrix encoding partial correlation between pair of variables given the others. To achieve…

In this work, we consider the problem of training a generator from evaluations of energy functions or unnormalized densities. This is a fundamental problem in probabilistic inference, which is crucial for scientific applications such as…

Exploring the capabilities of Neural Radiance Fields (NeRF) and Gaussian-based methods in the context of 3D scene reconstruction, this study contrasts these modern approaches with traditional Simultaneous Localization and Mapping (SLAM)…

When an agent, person, vehicle or robot is moving through an unknown environment without GNSS signals, online mapping of nonlinear terrains can be used to improve position estimates when the agent returns to a previously mapped area.…

In this paper, we propose a novel solution for non-convex problems of multiple variables, especially for those typically solved by an alternating minimization (AM) strategy that splits the original optimization problem into a set of…

Identifying the intrinsic coordinates or modes of the dynamical systems is essential to understand, analyze, and characterize the underlying dynamical behaviors of complex systems. For nonlinear dynamical systems, this presents a critical…

In this work we present an efficient numerical algorithm for the solution of interfacial statistical associating fluid theory (iSAFT) in cylindrical geometry to facilitate the study of inhomogeneous fluids having curvatures. The new…

Flow Matching (FM) constructs linear conditional probability paths, but the learned marginal velocity field inevitably exhibits strong curvature due to trajectory superposition. This curvature severely inflates numerical truncation errors,…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

Flow-based architectures have recently proved to be an efficient tool for numerical simulations of Effective String Theories regularized on the lattice that otherwise cannot be efficiently sampled by standard Monte Carlo methods. In this…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

Modeling irregularly-sampled time series (ISTS) is challenging because of missing values. Most existing methods focus on handling ISTS by converting irregularly sampled data into regularly sampled data via imputation. These models assume an…