相关论文: NICE-SLAM with Adaptive Feature Grids

The convolutional neural network (CNN) features can give a good description of image content, which usually represent images with unique global vectors. Although they are compact compared to local descriptors, they still cannot efficiently…

Convolutional Neural Networks (CNN) are very popular in many fields including computer vision, speech recognition, natural language processing, to name a few. Though deep learning leads to groundbreaking performance in these domains, the…

We present an accurate and GPU-accelerated Stereo Visual SLAM design called Jetson-SLAM. It exhibits frame-processing rates above 60FPS on NVIDIA's low-powered 10W Jetson-NX embedded computer and above 200FPS on desktop-grade 200W GPUs,…

Accurate and stable feature matching is critical for computer vision tasks, particularly in applications such as Simultaneous Localization and Mapping (SLAM). While recent learning-based feature matching methods have demonstrated promising…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…

We propose Hier-SLAM++, a comprehensive Neuro-Symbolic semantic 3D Gaussian Splatting SLAM method with both RGB-D and monocular input featuring an advanced hierarchical categorical representation, which enables accurate pose estimation as…

Versatile and adaptive semantic understanding would enable autonomous systems to comprehend and interact with their surroundings. Existing fixed-class models limit the adaptability of indoor mobile and assistive autonomous systems. In this…

We propose GrateTile, an efficient, hardwarefriendly data storage scheme for sparse CNN feature maps (activations). It divides data into uneven-sized subtensors and, with small indexing overhead, stores them in a compressed yet randomly…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

Monocular visual SLAM enables 3D reconstruction from internet video and autonomous navigation on resource-constrained platforms, yet suffers from scale drift, i.e., the gradual divergence of estimated scale over long sequences. Existing…

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…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

Existing frameworks for image stitching often provide visually reasonable stitchings. However, they suffer from blurry artifacts and disparities in illumination, depth level, etc. Although the recent learning-based stitchings relax such…

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…

The quality of graph-structured data is fundamental to the success of modern graph analysis techniques such as Graph Neural Networks (GNNs). However, real-world graph data is often suboptimal, suffering from issues such as noise and…