相关论文: Visual-Inertial SLAM as Simple as A, B, VINS

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumption due to persistent soft-tissue deformations, creating a…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

Visual degradation caused by limited visibility, insufficient lighting, and feature scarcity in underwater environments presents significant challenges to visual-inertial simultaneous localization and mapping (SLAM) systems. To address…

Extreme exposure degrades both the 3D map reconstruction and semantic segmentation accuracy, which is particularly detrimental to tightly-coupled systems. To achieve illumination invariance, we propose a novel semantic SLAM framework with…

A key functional block of visual navigation system for intelligent autonomous vehicles is Loop Closure detection and subsequent relocalisation. State-of-the-Art methods still approach the problem as uni-directional along the direction of…

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.…

This document presents PLVS: a real-time system that leverages sparse SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for Points, Lines, Volumetric mapping, and Segmentation. It supports RGB-D and Stereo…

Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM…

Indirect methods for visual SLAM are gaining popularity due to their robustness to environmental variations. ORB-SLAM2 \cite{orbslam2} is a benchmark method in this domain, however, it consumes significant time for computing descriptors…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…

Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under…