相关论文: NeRF-LOAM: Neural Implicit Representation for Larg…

Dynamic magnetic resonance imaging (dMRI) captures temporally-resolved anatomy but is often challenged by limited sampling and motion-induced artifacts. Conventional motion-compensated reconstructions typically rely on pre-estimated optical…

In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…

Current methods for 3D reconstruction and environmental mapping frequently face challenges in achieving high precision, highlighting the need for practical and effective solutions. In response to this issue, our study introduces FlyNeRF, a…

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…

We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Many real-world 3D reconstruction applications demand photorealism and metric accuracy across unbounded, complex scenes with challenging lighting and imperfect captures that current Neural Radiance Field (NeRF) pipelines only partly…

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ…

We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…

Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…

Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…

Acquiring accurate depth information of transparent objects using off-the-shelf RGB-D cameras is a well-known challenge in Computer Vision and Robotics. Depth estimation/completion methods are typically employed and trained on datasets with…

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…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…

SLAM is an important capability for many autonomous systems, and modern LiDAR-based methods offer promising performance. However, for long duration missions, existing works that either operate directly the full pointclouds or on extracted…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…