相关论文: A Feature Matching Method Based on Multi-Level Ref…

This paper proposes a compressed sensing-based high-resolution direction-of-arrival estimation method called gradient orthogonal matching pursuit (GOMP). It contains two main steps: a sparse coding approximation step using the well-known…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…

By benefiting from perceptual losses, recent studies have improved significantly the performance of the super-resolution task, where a high-resolution image is resolved from its low-resolution counterpart. Although such objective functions…

We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic and…

Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

Driven by large data trained segmentation models, such as SAM , research in one-shot segmentation has experienced significant advancements. Recent contributions like PerSAM and MATCHER , presented at ICLR 2024, utilize a similar approach by…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…

In this paper, we challenge the conventional notion in 3DGS-SLAM that rendering quality is the primary determinant of tracking accuracy. We argue that, compared to solely pursuing a perfect scene representation, it is more critical to…

Many images, of natural or man-made scenes often contain Similar but Genuine Objects (SGO). This poses a challenge to existing Copy-Move Forgery Detection (CMFD) methods which match the key points / blocks, solely based on the pair…

Finding corresponding pixels within a pair of images is a fundamental computer vision task with various applications. Due to the specific requirements of different tasks like optical flow estimation and local feature matching, previous…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Visual SLAM is a key technology for many autonomous systems. However, tracking loss can lead to the creation of disjoint submaps in multimap SLAM systems like ORB-SLAM3. Because of that, these systems employ submap merging strategies. As we…