相关论文: DynamicGlue: Epipolar and Time-Informed Data Assoc…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

Dynamic graph neural networks have been widely used in modeling and representation learning of graph structure data. Current dynamic representation learning focuses on either discrete learning which results in temporal information loss or…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

Accurate and real-time traffic state prediction is of great practical importance for urban traffic control and web mapping services. With the support of massive data, deep learning methods have shown their powerful capability in capturing…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

Recent works on SLAM extend their pose graphs with higher-level semantic concepts like Rooms exploiting relationships between them, to provide, not only a richer representation of the situation/environment but also to improve the accuracy…

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…

In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…

Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…

Modern data analysis pipelines are becoming increasingly complex due to the presence of multi-view information sources. While graphs are effective in modeling complex relationships, in many scenarios a single graph is rarely sufficient to…

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…

Cross-camera image data association is essential for many multi-camera computer vision tasks, such as multi-camera pedestrian detection, multi-camera multi-target tracking, 3D pose estimation, etc. This association task is typically stated…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these…

Accurate feature matching and correspondence in endoscopic images play a crucial role in various clinical applications, including patient follow-up and rapid anomaly localization through panoramic image generation. However, developing…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Graphs are essential representations of many real-world data such as social networks. Recent years have witnessed the increasing efforts made to extend the neural network models to graph-structured data. These methods, which are usually…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…