相关论文: TivNe-SLAM: Dynamic Mapping and Tracking via Time-…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
This paper introduces a novel continual learning framework for synthesising novel views of multiple scenes, learning multiple 3D scenes incrementally, and updating the network parameters only with the training data of the upcoming new…
Neural Radiance Fields (NeRFs) have shown great potential in modeling 3D scenes. Dynamic NeRFs extend this model by capturing time-varying elements, typically using deformation fields. The existing dynamic NeRFs employ a similar Eulerian…
We present a system for applying sim2real approaches to "in the wild" scenes with realistic visuals, and to policies which rely on active perception using RGB cameras. Given a short video of a static scene collected using a generic phone,…
We introduce NeuV-SLAM, a novel dense simultaneous localization and mapping pipeline based on neural multiresolution voxels, characterized by ultra-fast convergence and incremental expansion capabilities. This pipeline utilizes RGBD images…
Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…
Neural Radiance Fields (NeRFs) implicitly model continuous three-dimensional scenes using a set of images with known camera poses, enabling the rendering of photorealistic novel views. However, existing NeRF-based methods encounter…
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…
2D LiDAR SLAM (Simultaneous Localization and Mapping) is widely used in indoor environments due to its stability and flexibility. However, its mapping procedure is usually operated by a joystick in static environments, while indoor…
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…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
As a neuromorphic sensor with high temporal resolution, spike cameras offer notable advantages over traditional cameras in high-speed vision applications such as high-speed optical estimation, depth estimation, and object tracking. Inspired…
Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…
Monocular SLAM algorithms perform robustly when observing rigid scenes, however, they fail when the observed scene deforms, for example, in medical endoscopy applications. We present DefSLAM, the first monocular SLAM capable of operating in…
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…
Deep learning models have enjoyed great success for image related computer vision tasks like image classification and object detection. For video related tasks like human action recognition, however, the advancements are not as significant…
Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…
In rapidly-evolving domains such as autonomous driving, the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a…
We present a scene representation, which we call a tactile-augmented radiance field (TaRF), that brings vision and touch into a shared 3D space. This representation can be used to estimate the visual and tactile signals for a given 3D…
Dynamic neural radiance fields (dynamic NeRFs) have demonstrated impressive results in novel view synthesis on 3D dynamic scenes. However, they often require complete video sequences for training followed by novel view synthesis, which is…