相关论文: An Online Semantic Mapping System for Extending an…

Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the…

With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…

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…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Incorporating the physical environment is essential for a complete understanding of human behavior in unconstrained every-day tasks. This is especially important in ego-centric tasks where obtaining 3 dimensional information is both…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…

A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…

The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Localization and Mapping (SLAM). SLAM is a core task in robotics…

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…

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…

Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex environments. However, these systems struggle in real-world…

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…