相关论文: X-SLAM: Scalable Dense SLAM for Task-aware Optimiz…
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…
Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…
Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…
We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…
Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM applications, it remains challenging to keep constant speed in…
Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…
We introduce NeuV-SLAM, a novel dense simultaneous localization and mapping pipeline based on neural multiresolution voxels, characterized by ultra-fast convergence and incremental expansion capabilities. This pipeline utilizes RGBD images…
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…
We develop and analyze an asynchronous algorithm for distributed convex optimization when the objective writes a sum of smooth functions, local to each worker, and a non-smooth function. Unlike many existing methods, our distributed…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI applications. However, most existing 3DGS methods operate in isolation, focusing on specific domains.…
We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…
Rescue robotics sets high requirements to perception algorithms due to the unstructured and potentially vision-denied environments. Pivoting Frequency-Modulated Continuous Wave radars are an emerging sensing modality for SLAM in this kind…
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…
Efficient adversarial attack methods are critical for assessing the robustness of computer vision models. In this paper, we reconstruct the optimization objective for generating adversarial examples as "maximizing the difference between the…
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.…
Implicit neural SLAM has achieved remarkable progress recently. Nevertheless, existing methods face significant challenges in non-ideal scenarios, such as motion blur or lighting variation, which often leads to issues like convergence…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…