相关论文: SLAM for Visually Impaired People: a Survey

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…

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…

Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

This paper investigates the potential of vision-language models (VLMs) to assist people with blindness and low vision (pBLV) in navigation tasks. We evaluate state-of-the-art closed-source models, including GPT-4V, GPT-4o, Gemini-1.5-Pro,…

SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unfortunately, not all the approaches are available as…

In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually…

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…

Visually Impaired Assistance (VIA) aims to automatically help the visually impaired (VI) handle daily activities. The advancement of VIA primarily depends on developments in Computer Vision (CV) and Natural Language Processing (NLP), both…

SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem…

Visually impaired people face important challenges related to orientation and mobility. Indeed, 56% of visually impaired people in France declared having problems concerning autonomous mobility. These problems often mean that visually…

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…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

People with blindness and low vision (pBLV) face significant challenges, struggling to navigate environments and locate objects due to limited visual cues. Spatial reasoning is crucial for these individuals, as it enables them to understand…

Simultaneous localization and mapping (SLAM) plays a critical role in integrated sensing and communication (ISAC) systems for sixth-generation (6G) millimeter-wave (mmWave) networks, enabling environmental awareness and precise user…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…

Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily…