相关论文: X-SLAM: Scalable Dense SLAM for Task-aware Optimiz…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision-making in unstructured environments. Due to increasing computational demands the use of…

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…

This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…

We investigate a new paradigm that uses differentiable SLAM architectures in a self-supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work…

The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control. To address existing CSLAM systems' limitations in relative…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

Large token-indexed lookup tables provide a compute-decoupled scaling path, but their practical gains are often limited by poor parameter efficiency and rapid memory growth. We attribute these limitations to Zipfian under-training of the…

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…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…

In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

Mobile robots and IoT devices demand real-time localization and dense reconstruction under tight compute and energy budgets. While 3D Gaussian Splatting (3DGS) enables efficient dense SLAM, dynamic objects and occlusions still degrade…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…