相关论文: Probabilistic Data Association for Semantic SLAM a…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

The simultaneous localization and mapping (SLAM) problem is considered in three dimensions. The proposed algorithm, differential geometric SLAM (DG-SLAM), employs methods from differential geometry to propagate the state and map estimates.…

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…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

Simultaneous Localization and Mapping, commonly known as SLAM, has been an active research area in the field of Robotics over the past three decades. For solving the SLAM problem, every robot is equipped with either a single sensor or a…

We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…

In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of autonomous vehicles given their geometrical locations in maps and…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

Visual SLAM with thermal imagery, and other low contrast visually degraded environments such as underwater, or in areas dominated by snow and ice, remain a difficult problem for many state of the art (SOTA) algorithms. In addition to…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

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…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…

Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…

Electric vhicles and autonomous driving dominate current research efforts in the automotive sector. The two topics go hand in hand in terms of enabling safer and more environmentally friendly driving. One fundamental building block of an…

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…