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

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes,…

This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry that builds on the recently developed continuous sensor…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as poor lighting,…

The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…

Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels that cannot adapt to unknown moving objects, leading to…

This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-inertial SLAM for legged robotics undergoing aggressive and high-frequency motions.By integrating geometric consistency, legged odometry constraints, and…

In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…

We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different deep neural networks. Instead of estimating sparse feature…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

In this paper, a simultaneous localization and mapping (SLAM) method that eliminates the influence of moving objects in dynamic environments is proposed. This method utilizes the correlation between map points to separate points that are…