相关论文: AscDAMs: Advanced SLAM-based channel detection and…
Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…
Vision-based sensors have shown significant performance, accuracy, and efficiency gain in Simultaneous Localization and Mapping (SLAM) systems in recent years. In this regard, Visual Simultaneous Localization and Mapping (VSLAM) methods…
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…
This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…
Landslide susceptibility prediction has always been an important and challenging content. However, there are some uncertain problems to be solved in susceptibility modeling, such as the error of landslide samples and the complex nonlinear…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic field-based Simultaneous Localisation…
A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…
Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors,…
Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…
To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding. In a step towards fully integrated probabilistic geometric scene understanding, localization and mapping we…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
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…
Magnetic-field simultaneous localization and mapping (SLAM) using consumer-grade inertial and magnetometer sensors offers a scalable, cost-effective solution for indoor localization. However, the rapid error accumulation in the inertial…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…
In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…
Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…
Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…
Navigating outdoor environments with visual Simultaneous Localization and Mapping (SLAM) systems poses significant challenges due to dynamic scenes, lighting variations, and seasonal changes, requiring robust solutions. While traditional…