相关论文: When Geometry is not Enough: Using Reflector Marke…

Simultaneous localization and mapping (SLAM) algorithms are essential for the autonomous navigation of mobile robots. With the increasing demand for autonomous systems, it is crucial to evaluate and compare the performance of these…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…

Having knowledge on the room acoustic properties, e.g., the location of acoustic reflectors, allows to better reproduce the sound field as intended. Current state-of-the-art methods for room boundary detection using microphone measurements…

Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…

Robust and accurate localization and mapping of an environment using laser scanners, so-called LiDAR SLAM, is essential to many robotic applications. Early 3D LiDAR SLAM methods often exploited additional information from IMU or GNSS…

Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…

The widespread adoption of learning-based methods for the LiDAR makes autonomous vehicles vulnerable to adversarial attacks through adversarial \textit{point injections (PiJ)}. It poses serious security challenges for navigation and map…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

This paper presents a detailed examination of low-light visual Simultaneous Localization and Mapping (SLAM) pipelines, focusing on the integration of state-of-the-art (SOTA) low-light image enhancement algorithms with standard and…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Most real-time autonomous robot applications require a robot to traverse through a dynamic space for a long time. In some cases, a robot needs to work in the same environment. Such applications give rise to the problem of a life-long SLAM…

Solid-state LiDAR-inertial SLAM has attracted significant attention due to its advantages in speed and robustness. However, achieving accurate mapping in extreme environments remains challenging due to severe geometric degeneracy and…

Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often…

In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped…

Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…