相关论文: Scale Estimation with Dual Quadrics for Monocular …

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…

Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouples rotation and translation estimation of the tracking…

We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…

Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Efficient object level representation for monocular semantic simultaneous localization and mapping (SLAM) still lacks a widely accepted solution. In this paper, we propose the use of an efficient representation, based on structural points,…

Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for…