相关论文: A General Relationship between Optimality Criteria…
In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techniques impractical; a robot must be able to determine what…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…
Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
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…
Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…
Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
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…
Message passing is the core of most graph models such as Graph Convolutional Network (GCN) and Label Propagation (LP), which usually require a large number of clean labeled data to smooth out the neighborhood over the graph. However, the…
Recent works on SLAM extend their pose graphs with higher-level semantic concepts like Rooms exploiting relationships between them, to provide, not only a richer representation of the situation/environment but also to improve the accuracy…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…