相关论文: kollagen: A Collaborative SLAM Pose Graph Generato…

There has been a recent surge in learning generative models for graphs. While impressive progress has been made on static graphs, work on generative modeling of temporal graphs is at a nascent stage with significant scope for improvement.…

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…

Learning to generate new images for a novel category based on only a few images, named as few-shot image generation, has attracted increasing research interest. Several state-of-the-art works have yielded impressive results, but the…

Gradient descent algorithms are widely used in machine learning. In order to deal with huge volume of data, we consider the implementation of gradient descent algorithms in a distributed computing setting where multiple workers compute the…

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…

Graph clustering problems typically aim to partition the graph nodes such that two nodes belong to the same partition set if and only if they are similar. Correlation Clustering is a graph clustering formulation which: (1) takes as input a…

Recent generative models can synthesize "views" of artificial images that mimic real-world variations, such as changes in color or pose, simply by learning from unlabeled image collections. Here, we investigate whether such views can be…

The precise estimation of camera poses within large camera networks is a foundational problem in computer vision and robotics, with broad applications spanning autonomous navigation, surveillance, and augmented reality. In this paper, we…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper,…

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…

Column generation (CG) is a well-established method for solving large-scale linear programs. It involves iteratively optimizing a subproblem containing a subset of columns and using its dual solution to generate new columns with negative…

Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

Annotating images with pixel-wise labels is a time-consuming and costly process. Recently, DatasetGAN showcased a promising alternative - to synthesize a large labeled dataset via a generative adversarial network (GAN) by exploiting a small…

LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…

Due to the emergence of Generative Adversarial Networks, video synthesis has witnessed exceptional breakthroughs. However, existing methods lack a proper representation to explicitly control the dynamics in videos. Human pose, on the other…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…