相关论文: RTS-GT: Robotic Total Stations Ground Truthing dat…

Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

The reliability of Simultaneous Localization and Mapping (SLAM) is severely constrained in environments where visual inputs suffer from noise and low illumination. Although recent 3D Gaussian Splatting (3DGS) based SLAM frameworks achieve…

Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlock the potential of robots, it is crucial to enable them to…

Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…

This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…

Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…

While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

The increasing reliance on Global Navigation Satellite Systems (GNSS), particularly the Global Positioning System (GPS), underscores the urgent need to safeguard these technologies against malicious threats such as spoofing and jamming. As…

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…

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

Background: Reporting and Data Systems (RADS) standardize radiology risk communication but automated RADS assignment from narrative reports is challenging because of guideline complexity, output-format constraints, and limited benchmarking…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…

This paper presents a joint effort towards the development of a data-driven Social Robot Navigation metric to facilitate benchmarking and policy optimization for ground robots. We compiled a dataset with 4427 trajectories -- 182 real and…

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…

We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we remove high-dimensional 15-degree-of-freedom drift and planar…

Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various…

Due to the complicated procedure and costly hardware, Simultaneous Localization and Mapping (SLAM) has been heavily dependent on public datasets for drill and evaluation, leading to many impressive demos and good benchmark scores. However,…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…