相关论文: Partial Hierarchical Pose Graph Optimization for S…
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
Keyframes are LiDAR scans saved for future reference in Simultaneous Localization And Mapping (SLAM), but despite their central importance most algorithms leave choices of which scans to save and how to use them to wasteful heuristics. This…
Discriminative methods often generate hand poses kinematically implausible, then generative methods are used to correct (or verify) these results in a hybrid method. Estimating 3D hand pose in a hierarchy, where the high-dimensional output…
Training large language models (LLMs) increasingly relies on geographically distributed accelerators, causing prohibitive communication costs across regions and uneven utilization of heterogeneous hardware. We propose HALoS, a hierarchical…
Pose-graph SLAM is the de facto standard framework for constructing large-scale maps from multi-session experiences of relative observations and motions during visual robot navigation. It has received increasing attention in the context of…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Process mapping asks to assign vertices of a task graph to processing elements of a supercomputer such that the computational workload is balanced while the communication cost is minimized. Motivated by the recent success of GPU-based graph…
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…
Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise relative transformation constraints. The latter may be given by…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
In this paper, we propose panoramic annular simultaneous localization and mapping (PA-SLAM), a visual SLAM system based on panoramic annular lens. A hybrid point selection strategy is put forward in the tracking front-end, which ensures…
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…
A local map module is often implemented in modern VO/VSLAM systems to improve data association and pose estimation. Conventionally, the local map contents are determined by co-visibility. While co-visibility is cheap to establish, it…
In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space enables the desirable distribution of limited computational…
Particle swam optimization (PSO) is a popular stochastic optimization method that has found wide applications in diverse fields. However, PSO suffers from high computational complexity and slow convergence speed. High computational…
Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…
With the increasing computational capability of mobile devices, deploying agentic retrieval-augmented generation (RAG) locally on heterogeneous System-on-Chips (SoCs) has become a promising way to enhance LLM-based applications. However,…
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…