相关论文: Panoptic-SLAM: Visual SLAM in Dynamic Environments…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
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…
The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…
To enhance the performance and effect of AR/VR applications and visual assistance and inspection systems, visual simultaneous localization and mapping (vSLAM) is a fundamental task in computer vision and robotics. However, traditional vSLAM…
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…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…
Considering the scene's dynamics is the most effective solution to obtain an accurate perception of unknown environments for real vSLAM applications. Most existing methods attempt to address the non-rigid scene assumption by combining…
Understanding geometric, semantic, and instance information in 3D scenes from sequential video data is essential for applications in robotics and augmented reality. However, existing Simultaneous Localization and Mapping (SLAM) methods…
Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
As a fundamental task for intelligent robots, visual SLAM has made great progress over the past decades. However, robust SLAM under highly weak-textured environments still remains very challenging. In this paper, we propose a novel visual…
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) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
This paper explores how deep learning techniques can improve visual-based SLAM performance in challenging environments. By combining deep feature extraction and deep matching methods, we introduce a versatile hybrid visual SLAM system…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…