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

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

We present a new theoretical perspective of data noising in recurrent neural network language models (Xie et al., 2017). We show that each variant of data noising is an instance of Bayesian recurrent neural networks with a particular…

In this paper, we propose an artificial intelligence (AI)-enhanced hybrid simultaneous localization and mapping (SLAM) method that performs Bayesian inference directly on raw radio-frequency (RF) signals while learning an environment model…

Understanding causal relationships in multivariate time series is crucial in many scenarios, such as those dealing with financial or neurological data. Many such time series exhibit multiple regimes, i.e., consecutive temporal segments with…

The integration of sensing and communication (ISAC) is a key enabler for next-generation technologies. With high-frequency bands and large-scale antenna arrays, the Rayleigh distance extends, necessitating near-field (NF) models where waves…

Graph Neural Networks (GNNs) have achieved impressive performance in collaborative filtering. However, GNNs tend to yield inferior performance when the distributions of training and test data are not aligned well. Also, training GNNs…

This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP…

Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping…

Visual SLAM has regained attention due to its ability to provide perceptual capabilities and simulation test data for Embodied AI. However, traditional SLAM methods struggle to meet the demands of high-quality scene reconstruction, and…

Flow models have rapidly become the go-to method for training and deploying large-scale generators, owing their success to inference-time flexibility via adjustable integration steps. A crucial ingredient in flow training is the choice of…

While generative modeling has achieved remarkable success on tasks like natural language-conditioned image generation, enabling model adaptation from example data points remains a relatively underexplored and challenging problem. To this…

We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…

We introduce Dynamic Gaussian Splatting SLAM (DGS-SLAM), the first dynamic SLAM framework built on the foundation of Gaussian Splatting. While recent advancements in dense SLAM have leveraged Gaussian Splatting to enhance scene…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

The framework of normalizing flows provides a general strategy for flexible variational inference of posteriors over latent variables. We propose a new type of normalizing flow, inverse autoregressive flow (IAF), that, in contrast to…

Recently developed generative methods, including invertible rescaling network (IRN) based and generative adversarial network (GAN) based methods, have demonstrated exceptional performance in image rescaling. However, IRN-based methods tend…

Inertial algorithms for minimizing nonsmooth and nonconvex functions as the inertial proximal alternating linearized minimization algorithm (iPALM) have demonstrated their superiority with respect to computation time over their non inertial…

Flow matching has emerged as a powerful generative modeling approach with flexible choices of source distribution. While Gaussian distributions are commonly used, the potential for better alternatives in high-dimensional data generation…