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

3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

Odometry on aerial robots has to be of low latency and high robustness whilst also respecting the Size, Weight, Area and Power (SWAP) constraints as demanded by the size of the robot. A combination of visual sensors coupled with Inertial…

The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the…

Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…

Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…