相关论文: An Efficient Global Optimality Certificate for Lan…

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…

This paper demonstrates the usefulness of distributed local verification of proofs, as a tool for the design of self-stabilizing algorithms.In particular, it introduces a somewhat generalized notion of distributed local proofs, and utilizes…

We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…

Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…

The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical characteristic of resource-limited applications. While hardware and algorithm advances have been significantly improved the cost-efficiency of VSLAM front-ends, the…

Graph neural networks (GNNs) have been widely used in various graph machine learning scenarios. Existing literature primarily assumes well-annotated training graphs, while the reliability of labels is not guaranteed in real-world scenarios.…

A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (stability), while avoiding the boundary of the environment…

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…

Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…

Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors. Traditional appearance-based methods, such as bag-of-words models, are often limited by local 2D features and the volume…

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…

Simultaneous Localization and Mapping systems are a key enabler for positioning in both handheld and robotic applications. The Hilti SLAM Challenges organized over the past years have been successful at benchmarking some of the world's best…

Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…

This study develops a calibrated beam-based algorithm with awareness of the global attention distribution for neural abstractive summarization, aiming to improve the local optimality problem of the original beam search in a rigorous way.…

This paper solves the classical problem of simultaneous localization and mapping (SLAM) in a fashion which avoids linearized approximations altogether. Based on creating virtual synthetic measurements, the algorithm uses a linear time-…