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

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…

Recently there has been a significant effort to automate UV mapping, the process of mapping 3D-dimensional surfaces to the UV space while minimizing distortion and seam length. Although state-of-the-art methods, Autocuts and OptCuts,…

Sparse coding can learn good robust representation to noise and model more higher-order representation for image classification. However, the inference algorithm is computationally expensive even though the supervised signals are used to…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Scene graph generation (SGG) is to detect object pairs with their relations in an image. Existing SGG approaches often use multi-stage pipelines to decompose this task into object detection, relation graph construction, and dense or…

Motivated by collaborative localization in robotic sensor networks, we consider the problem of large-scale network localization where location estimates are derived from inter-node radio signals. Well-established methods for network…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled Simultaneous Localization and Mapping (SLAM) systems to build photorealistic maps. However, these maps lack the open-vocabulary semantic understanding required for advanced…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics applications. Addressing the need for efficient spatial…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

An increasing amount of location-based service (LBS) data is being accumulated and helps to study urban dynamics and human mobility. GPS coordinates and other location indicators are normally low dimensional and only representing spatial…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

We propose a novel positional encoding for learning graph on Transformer architecture. Existing approaches either linearize a graph to encode absolute position in the sequence of nodes, or encode relative position with another node using…

Various deep learning techniques have been proposed to solve the single-view 2D-to-3D pose estimation problem. While the average prediction accuracy has been improved significantly over the years, the performance on hard poses with depth…