相关论文: S3E: A Multi-Robot Multimodal Dataset for Collabor…
Real-world model deployment across multiple domains requires multimodal models to operate under two complementary regimes: (1) multi-task pretraining, tasks are co-available at design time where related tasks could borrow representational…
In the field of autonomous driving or robotics, simultaneous localization and mapping (SLAM) and multi-object tracking (MOT) are two fundamental problems and are generally applied separately. Solutions to SLAM and MOT usually rely on…
In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…
With the advancement of Artificial Intelligence (AI) towards multiple modalities (language, vision, speech, etc.), multi-modal models have increasingly been used across various applications (e.g., visual question answering or image…
Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic…
The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…
We present the first fully distributed multi-robot system for dense metric-semantic Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is implemented by a team of robots equipped with visual-inertial sensors, and…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information to construct the…
We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Simultaneous localization and mapping (SLAM) is the process of constructing a global model of an environment from local observations of it; this is a foundational capability for mobile robots, supporting such core functions as planning,…
We introduce ProM3E, a probabilistic masked multimodal embedding model for any-to-any generation of multimodal representations for ecology. ProM3E is based on masked modality reconstruction in the embedding space, learning to infer missing…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
This paper addresses vehicle positioning, a topic whose importance has risen dramatically in the context of future autonomous driving systems. While classical methods that use GPS and/or beacon signals from network infrastructure for…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
The pursuit of autonomous driving has produced one of the richest sensor data collections in all of robotics. However, its scale and diversity remain largely untapped. Each dataset adopts different 2D and 3D modalities, such as cameras,…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…