相关论文: A Hybrid Sparse-Dense Monocular SLAM System for Au…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors or monocular views,…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

We present Dense-SfM, a novel Structure from Motion (SfM) framework designed for dense and accurate 3D reconstruction from multi-view images. Sparse keypoint matching, which traditional SfM methods often rely on, limits both accuracy and…

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming $\textit{Train-from-Scratch}$ optimization and the lack of…

In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

Dynamic environments that include unstructured moving objects pose a hard problem for Simultaneous Localization and Mapping (SLAM) performance. The motion of rigid objects can be typically tracked by exploiting their texture and geometric…