相关论文: Loop closure detection using local 3D deep descrip…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

Loop-closure detection (LCD) in large non-stationary environments remains an important challenge in robotic visual simultaneous localization and mapping (vSLAM). To reduce computational and perceptual complexity, it is helpful if a vSLAM…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…

Imaging radar is an emerging sensor modality in the context of Localization and Mapping (SLAM), especially suitable for vision-obstructed environments. This article investigates the use of 4D imaging radars for SLAM and analyzes the…

While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation…

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

We present a lightweight magnetic field simultaneous localisation and mapping (SLAM) approach for drift correction in odometry paths, where the interest is purely in the odometry and not in map building. We represent the past magnetic field…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Visual-Spatial Systems has become increasingly essential in concrete crack inspection. However, existing methods often lacks adaptability to diverse scenarios, exhibits limited robustness in image-based approaches, and struggles with curved…

Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction and global relocalization. However, a falsely detected loop…

Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…