相关论文: Point-SLAM: Dense Neural Point Cloud-based SLAM

Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian Splats (3DGS) has recently shown promise towards more accurate, dense 3D scene maps. However, existing 3DGS-based methods fail to address the global consistency of the scene…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…

Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…

In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouples rotation and translation estimation of the tracking…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…

Attention models have recently emerged as a powerful approach, demonstrating significant progress in various fields. Visualization techniques, such as class activation mapping, provide visual insights into the reasoning of convolutional…

Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is robust on in-the-wild video sequences despite making no…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…

Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…