相关论文: Semantic Visual Simultaneous Localization and Mapp…

Simultaneous Localization and Mapping (SLAM) achieves the purpose of simultaneous positioning and map construction based on self-perception. The paper makes an overview in SLAM including Lidar SLAM, visual SLAM, and their fusion. For Lidar…

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…

In this paper, a novel solution is introduced for visual Simultaneous Localization and Mapping (vSLAM) that is built up of Deep Learning components. The proposed architecture is a highly modular framework in which each component offers…

Accurate localization in challenging garage environments -- marked by poor lighting, sparse textures, repetitive structures, dynamic scenes, and the absence of GPS -- is crucial for automated valet parking (AVP) tasks. Addressing these…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to…

We propose to integrate text objects in man-made scenes tightly into the visual SLAM pipeline. The key idea of our novel text-based visual SLAM is to treat each detected text as a planar feature which is rich of textures and semantic…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

Visual SLAM is a key technology for many autonomous systems. However, tracking loss can lead to the creation of disjoint submaps in multimap SLAM systems like ORB-SLAM3. Because of that, these systems employ submap merging strategies. As we…

This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system…

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…

This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation…

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,…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…

Simultaneous Localization and Mapping (SLAM) algorithms are frequently deployed to support a wide range of robotics applications, such as autonomous navigation in unknown environments, and scene mapping in virtual reality. Many of these…