相关论文: HGI-SLAM: Loop Closure With Human and Geometric Im…

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and…

The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

Recently,3DGaussianSplattinghasshowngreatpotentialin visual Simultaneous Localization And Mapping (SLAM). Existing methods have achieved encouraging results on RGB-D SLAM, but studies of the monocular case are still scarce. Moreover, they…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

In the real-life environments, due to the sudden appearance of windows, lights, and objects blocking the light source, the visual SLAM system can easily capture the low-contrast images caused by over-exposure or over-darkness. At this time,…

This paper proposes a novel simultaneous localization and mapping (SLAM) approach, namely Attention-SLAM, which simulates human navigation mode by combining a visual saliency model (SalNavNet) with traditional monocular visual SLAM. Most…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

We present a visual simultaneous localization and mapping (SLAM) framework of closing surface loops. It combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and globally…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

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…

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…

Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on low-level geometric or image features may cause high…

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…

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…