相关论文: CNN-Augmented Visual-Inertial SLAM with Planar Con…
Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…
In the last two decades Computer Aided Diagnostics (CAD) systems were developed to help radiologists analyze screening mammograms. The benefits of current CAD technologies appear to be contradictory and they should be improved to be…
Over the last decade, Convolutional Neural Network (CNN) models have been highly successful in solving complex vision problems. However, these deep models are perceived as "black box" methods considering the lack of understanding of their…
Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this direction fall short in terms of global consistency and low…
Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…
In this paper, we challenge the conventional notion in 3DGS-SLAM that rendering quality is the primary determinant of tracking accuracy. We argue that, compared to solely pursuing a perfect scene representation, it is more critical to…
In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The former enables our system to represent the dynamics of the…
Despite advancements in SLAM technologies, robust operation under challenging conditions such as low-texture, motion-blur, or challenging lighting remains an open challenge. Such conditions are common in applications such as assistive…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…
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…
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
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…
The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tightly coupled LiDAR-Inertial 3D SLAM framework with plane…
Moving objects can greatly jeopardize the performance of a visual simultaneous localization and mapping (vSLAM) system which relies on the static-world assumption. Motion removal have seen successful on solving this problem. Two main…
We propose an online visual tracking algorithm by learning discriminative saliency map using Convolutional Neural Network (CNN). Given a CNN pre-trained on a large-scale image repository in offline, our algorithm takes outputs from hidden…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…