相关论文: SemanticTopoLoop: Semantic Loop Closure With 3D To…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Loop-closure detection on 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity and from robustness to environment changes while methods…

We present Human and Geometric Importance SLAM (HGI-SLAM), a novel approach to loop closure using salient and geometric features. Loop closure is a key element of SLAM, with many established methods for this problem. However, current…

Incorporating the physical environment is essential for a complete understanding of human behavior in unconstrained every-day tasks. This is especially important in ego-centric tasks where obtaining 3 dimensional information is both…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…

In this paper, we present a multi-agent framework for real-time large-scale 3D reconstruction applications. In SLAM, researchers usually build and update a 3D map after applying non-linear pose graph optimization techniques. Moreover, many…

Visual loop closure detection traditionally relies on place recognition methods to retrieve candidate loops that are validated using computationally expensive RANSAC-based geometric verification. As false positive loop closures…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

According to experts, Simultaneous Localization and Mapping (SLAM) is an intrinsic part of autonomous robotic systems. Several SLAM systems with impressive performance have been invented and used during the last several decades. However,…

Semantic Abstraction's key observation is that 2D VLMs' relevancy activations roughly correspond to their confidence of whether and where an object is in the scene. Thus, relevancy maps are treated as "abstract object" representations. We…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…

We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…

Multi-agent cooperative SLAM often encounters challenges in similar indoor environments characterized by repetitive structures, such as corridors and rooms. These challenges can lead to significant inaccuracies in shared location…

This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…

Contrastive Vision-Language Models (VLMs) have demonstrated strong zero-shot capabilities. However, their cross-modal alignment remains biased toward English due to limited multilingual multimodal data. Recent multilingual extensions have…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…