相关论文: Batch SLAM with PMBM Data Association Sampling and…

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…

Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the…

Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…

With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

Existing pretraining data mixing methods for large language models (LLMs) typically follow a domain-wise methodology, a top-down process that first determines domain weights and then performs uniform data sampling across each domain.…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

In this paper, we propose a novel solution for non-convex problems of multiple variables, especially for those typically solved by an alternating minimization (AM) strategy that splits the original optimization problem into a set of…

In this work, we develop a multipath-based simultaneous localization and mapping (SLAM) method that can directly be applied to received radio signals. In existing multipath-based SLAM approaches, a channel estimator is used as a…

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…

Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…

We investigate the application of the additive overlapping Schwarz domain decomposition method as a preconditioner for the large sparse linear systems arising in graph-based nonlinear least-squares problems, specifically the pose-graph…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently…

We propose a distributed bundle adjustment (DBA) method using the exact Levenberg-Marquardt (LM) algorithm for super large-scale datasets. Most of the existing methods partition the global map to small ones and conduct bundle adjustment in…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…