相关论文: SD-SLAM: A Semantic SLAM Approach for Dynamic Scen…

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…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes,…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

This research paper focuses on the problem of dynamic objects and their impact on effective motion planning and localization. The paper proposes a two-step process to address this challenge, which involves finding the dynamic objects in the…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

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…

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,…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…