相关论文: Dynamic Dense RGB-D SLAM using Learning-based Visu…
Recent work in visual SLAM has shown the effectiveness of using deep network backbones. Despite excellent accuracy, however, such approaches are often expensive to run or do not generalize well zero-shot. Their runtime can also fluctuate…
Dense 3D reconstruction from RGB images traditionally assumes static camera pose estimates. This assumption has endured, even as recent works have increasingly focused on real-time methods for mobile devices. However, the assumption of a…
We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…
Existing LiDAR-inertial-visual odometry and mapping (LIV-SLAM) systems mainly utilize the LiDAR-inertial odometry (LIO) module for structure reconstruction and the visual-inertial odometry (VIO) module for color rendering. However, the…
Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…
Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…
Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the…
The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…
We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…
This paper proposes a novel visual simultaneous localization and mapping (SLAM) system called Hybrid Depth-augmented Panoramic Visual SLAM (HDPV-SLAM), that employs a panoramic camera and a tilted multi-beam LiDAR scanner to generate…
The emergence of visual foundation models has revolutionized visual odometry~(VO) and SLAM, enabling pose estimation and dense reconstruction within a single feed-forward network. However, unlike traditional pipelines that leverage keyframe…
We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…
Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…
In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…
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…
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…
Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…