相关论文: Benchmarking ground truth trajectories with roboti…

Global Navigation Satellite Systems (GNSS) provide global positioning and timing. Multiple receivers with known reference positions (stations) can assist mobile receivers (rovers) in obtaining GNSS corrections and achieve centimeter-level…

The technology to generate Spatially Resolved Transcriptomics (SRT) data is rapidly being improved and applied to investigate a variety of biological tissues. The ability to interrogate how spatially localised gene expression can lend new…

We investigate the accuracy of conventional machine learning aided algorithms for the prediction of lateral land movement in an area using the precise position time series of permanent GNSS stations. The machine learning algorithms that are…

Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping…

Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…

With the advancement of transportation vehicles, the importance and utility of navigation systems providing positioning, navigation, and timing (PNT) information have been increasing. Global navigation satellite systems (GNSS) are widely…

Ground robots play a crucial role in inspection, exploration, rescue, and other applications. In recent years, advancements in LiDAR technology have made sensors more accurate, lightweight, and cost-effective. Therefore, researchers…

Evaluation is critical to both developing and tuning Structure from Motion (SfM) and Visual SLAM (VSLAM) systems, but is universally reliant on high-quality geometric ground truth -- a resource that is not only costly and time-intensive…

Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…

In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…

Geographic state machine replication (SMR) is a replication method in which replicas of a service are located on multiple continents to improve the fault tolerance of a general service. Nowadays, geographic SMR is easily realized using…

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…

Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is sometimes challenging without GT tracking sensors. As an…

The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…

This paper contains the performance analysis and benchmarking of two popular visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The dataset…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS),…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…

Marker-based optical motion capture (MoCap) systems are widely used to provide ground truth (GT) trajectories for benchmarking SLAM algorithms. However, the accuracy of MoCap-based GT trajectories is mainly affected by two factors:…