相关论文: Dynamic Registration: Joint Ego Motion Estimation …

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

There is a general expectation that robots should operate in environments that consist of static and dynamic entities including people, furniture and automobiles. These dynamic environments pose challenges to visual simultaneous…

Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…

We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…

With the spread of wearable devices and head mounted cameras, a wide range of application requiring precise user localization is now possible. In this paper we propose to treat the problem of obtaining the user position with respect to a…

In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

We study algorithms for detecting and including glass objects in an optimization-based Simultaneous Localization and Mapping (SLAM) algorithm in this work. When LiDAR data is the primary exteroceptive sensory input, glass objects are not…

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…