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Simultaneous Localization and Mapping (SLAM) is a fundamental task to mobile and aerial robotics. LiDAR based systems have proven to be superior compared to vision based systems due to its accuracy and robustness. In spite of its…

Localization is a fundamental requirement for an autonomous vehicle system. One of the most often used systems for autonomous vehicle localization is the global positioning system (GPS). Nevertheless, the functionality of GPS is strongly…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…

We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Navigating toy drones through uncharted GPS-denied indoor spaces poses significant difficulties due to their reliance on GPS for location determination. In such circumstances, the necessity for achieving proper navigation is a primary…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…

In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…

Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…

This work presents a smartwatch attached to patients at remote locations, which would help in the navigation of wheel chair and monitor the vitals of patients and relay it through IoT. This wearable smartwatch is equipped with sensors to…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

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,…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…

Simultaneous Localization and Mapping (SLAM) is considered to be an essential capability for intelligent vehicles and mobile robots. However, most of the current lidar SLAM approaches are based on the assumption of a static environment.…

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…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…