相关论文: RGB-D Inertial Odometry for a Resource-Restricted …

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

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…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

There has been extensive research on visual localization and odometry for autonomous robots and virtual reality during the past decades. Traditionally, this problem has been solved with the help of expensive sensors, such as lidars.…

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…

Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

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…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…