相关论文: D$^3$FlowSLAM: Self-Supervised Dynamic SLAM with F…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Recent deep learning based visual simultaneous localization and mapping (SLAM) methods have made significant progress. However, how to make full use of visual information as well as better integrate with inertial measurement unit (IMU) in…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

We present a novel reduced-order fluid simulation technique leveraging Dynamic Mode Decomposition (DMD) to achieve fast, memory-efficient, and user-controllable subspace simulation. We demonstrate that our approach combines the strengths of…

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…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

We present Deblur-SLAM, a robust RGB SLAM pipeline designed to recover sharp reconstructions from motion-blurred inputs. The proposed method bridges the strengths of both frame-to-frame and frame-to-model approaches to model sub-frame…

Learning scene flow from a monocular camera still remains a challenging task due to its ill-posedness as well as lack of annotated data. Self-supervised methods demonstrate learning scene flow estimation from unlabeled data, yet their…

Recognizing dynamic scenes is one of the fundamental problems in scene understanding, which categorizes moving scenes such as a forest fire, landslide, or avalanche. While existing methods focus on reliable capturing of static and dynamic…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. Different from the classical simultaneous localization and mapping (SLAM) problem, where the…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any…

Neural implicit fields have recently emerged as a powerful representation method for multi-view surface reconstruction due to their simplicity and state-of-the-art performance. However, reconstructing thin structures of indoor scenes while…

Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…

State-of-the-art video deblurring methods cannot handle blurry videos recorded in dynamic scenes, since they are built under a strong assumption that the captured scenes are static. Contrary to the existing methods, we propose a video…