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

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…

The advancement of dense visual simultaneous localization and mapping (SLAM) has been greatly facilitated by the emergence of neural implicit representations. Neural implicit encoding SLAM, a typical example of which is NICE-SLAM, has…

The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization and mapping (SLAM) in a cooperative context. Despite this…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

In this study, we present the Graph Sub-Graph Network (GSN), a novel hybrid image classification model merging the strengths of Convolutional Neural Networks (CNNs) for feature extraction and Graph Neural Networks (GNNs) for structural…

Visual relocalization is a fundamental task in the field of 3D computer vision, estimating a camera's pose when it revisits a previously known scene. While point-based hierarchical relocalization methods have shown strong scalability and…

Integrating Pre-trained Language Models (PLMs) with Graph Neural Networks (GNNs) remains a central challenge in text-rich heterophilic graph learning. We propose a novel integration framework that enables effective fusion between powerful…

Whilst spectral Graph Neural Networks (GNNs) are theoretically well-founded in the spectral domain, their practical reliance on polynomial approximation implies a profound linkage to the spatial domain. As previous studies rarely examine…

Training effective embodied AI agents often involves manual reward engineering, expert imitation, specialized components such as maps, or leveraging additional sensors for depth and localization. Another approach is to use neural…

Network alignment is the task of establishing one-to-one correspondences between the nodes of different graphs. Although finding a plethora of applications in high-impact domains, this task is known to be NP-hard in its general form.…

Event camera, as an asynchronous vision sensor capturing scene dynamics, presents new opportunities for highly efficient 3D human pose tracking. Existing approaches typically adopt modern-day Artificial Neural Networks (ANNs), such as CNNs…

Graph matching is a commonly used technique in computer vision and pattern recognition. Recent data-driven approaches have improved the graph matching accuracy remarkably, whereas some traditional algorithm-based methods are more robust to…