相关论文: Depth Completion with Multiple Balanced Bases and …

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…

Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geometric foundation…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory 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…

This paper addresses the problem of scale estimation in monocular SLAM by estimating absolute distances between camera centers of consecutive image frames. These estimates would improve the overall performance of classical (not deep) SLAM…

Streaming reconstruction from uncalibrated monocular video remains challenging, as it requires both high-precision pose estimation and computationally efficient online refinement in dynamic environments. While coupling 3D foundation models…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

We propose a novel algorithm for monocular depth estimation that decomposes a metric depth map into a normalized depth map and scale features. The proposed network is composed of a shared encoder and three decoders, called G-Net, N-Net, and…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Existing depth completion methods are often targeted at a specific sparse depth type and generalize poorly across task domains. We present a method to complete sparse/semi-dense, noisy, and potentially low-resolution depth maps obtained by…

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,…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…