相关论文: Loopy-SLAM: Dense Neural SLAM with Loop Closures

Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this…

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…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

3D Gaussian Splatting (3DGS) allows flexible adjustments to scene representation, enabling continuous optimization of scene quality during dense visual simultaneous localization and mapping (SLAM) in static environments. However, 3DGS faces…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several deep learning approaches have been proposed to address this…

Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments remains challenging. Most methods directly remove dynamic…

We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously. In this system, we incorporate…

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…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

Neural implicit representations have recently demonstrated considerable potential in the field of visual simultaneous localization and mapping (SLAM). This is due to their inherent advantages, including low storage overhead and…

In this paper, we propose panoramic annular simultaneous localization and mapping (PA-SLAM), a visual SLAM system based on panoramic annular lens. A hybrid point selection strategy is put forward in the tracking front-end, which ensures…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…