相关论文: ExplORB-SLAM: Active Visual SLAM Exploiting the Po…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

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…

Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper,…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with…

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…

Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or household robotics. This repeated exposure to observing the…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly…

In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, the previously available architectural plan of the building…

In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…