相关论文: Orbeez-SLAM: A Real-time Monocular Visual SLAM wit…

Object SLAM uses additional semantic information to detect and map objects in the scene, in order to improve the system's perception and map representation capabilities. Quadrics and cubes are often used to represent objects, but their…

Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…

We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

In this paper, we propose a lightweight system, RDS-SLAM, based on ORB-SLAM2, which can accurately estimate poses and build semantic maps at object level for dynamic scenarios in real time using only one commonly used Intel Core i7 CPU. In…

Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms.We…

Indirect methods for visual SLAM are gaining popularity due to their robustness to environmental variations. ORB-SLAM2 \cite{orbslam2} is a benchmark method in this domain, however, it consumes significant time for computing descriptors…

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

Recent work in visual SLAM has shown the effectiveness of using deep network backbones. Despite excellent accuracy, however, such approaches are often expensive to run or do not generalize well zero-shot. Their runtime can also fluctuate…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

Robots responsible for tasks over long time scales must be able to localize consistently and scalably amid geometric, viewpoint, and appearance changes. Existing visual SLAM approaches rely on low-level feature descriptors that are not…

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…