相关论文: S3E-GNN: Sparse Spatial Scene Embedding with Graph…

Understanding geometric, semantic, and instance information in 3D scenes from sequential video data is essential for applications in robotics and augmented reality. However, existing Simultaneous Localization and Mapping (SLAM) methods…

Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…

Large-scale network embedding is to learn a latent representation for each node in an unsupervised manner, which captures inherent properties and structural information of the underlying graph. In this field, many popular approaches are…

Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB image in a given 3D…

We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously. In this system, we incorporate…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

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…

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…

Scene coordinate regression (SCR) has established itself as a promising learning-based approach to visual relocalization. After mere minutes of scene-specific training, SCR models estimate camera poses of query images with high accuracy.…

Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…

How to improve generative modeling by better exploiting spatial regularities and coherence in images? We introduce a novel neural network for building image generators (decoders) and apply it to variational autoencoders (VAEs). In our…

Graph neural networks (GNNs) have revolutionized the field of machine learning on non-Euclidean data such as graphs and networks. GNNs effectively implement node representation learning through neighborhood aggregation and achieve…

Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

This study explores the potential of graph neural networks (GNNs) to enhance semantic segmentation across diverse image modalities. We evaluate the effectiveness of a novel GNN-based U-Net architecture on three distinct datasets: PascalVOC,…

In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

Graph representation learning is a fundamental research issue in various domains of applications, of which the inductive learning problem is particularly challenging as it requires models to generalize to unseen graph structures during…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

Recent advancements in visual localization and mapping have demonstrated considerable success in integrating point and line features. However, expanding the localization framework to include additional mapping components frequently results…