相关论文: LSGDDN-LCD: An Appearance-based Loop Closure Detec…
In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop closure…
Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…
Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in…
With the advancement in robotics, it is becoming increasingly common for large factories and warehouses to incorporate visual SLAM (vSLAM) enabled automated robots that operate closely next to humans. This makes any adversarial attacks on…
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties.…
Place recognition and loop-closure detection are main challenges in the localization, mapping and navigation tasks of self-driving vehicles. In this paper, we solve the loop-closure detection problem by incorporating the deep-learning based…
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…
Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC$^2$-SLAM. We argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as…
Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recog- nition applications to outperform by a significant margin state- of-the-art solutions that use traditional hand-crafted features.…
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…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
Localizing pre-visited places during long-term simultaneous localization and mapping, i.e. loop closure detection (LCD), is a crucial technique to correct accumulated inconsistencies. As one of the most effective and efficient solutions,…
We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…
Remote Sensing Change Detection (RSCD) typically identifies changes in land cover or surface conditions by analyzing multi-temporal images. Currently, most deep learning-based methods primarily focus on learning unimodal visual information,…
Camouflaged Object Detection (COD) aims to segment objects that are highly integrated with the background in terms of color, texture, and structure, making it a highly challenging task in computer vision. Although existing methods introduce…
In visual Simultaneous Localization And Mapping (SLAM), detecting loop closures has been an important but difficult task. Currently, most solutions are based on the bag-of-words approach. Yet the possibility of deep neural network…
In this paper a binary feature based Loop Closure Detection (LCD) method is proposed, which for the first time achieves higher precision-recall (PR) performance compared with state-of-the-art SIFT feature based approaches. The proposed…