相关论文: Towards Revisiting Visual Place Recognition for Jo…
Simultaneous Localization and Mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. These environments pose significant…
This project has conducted research on robot path planning based on Visual SLAM. The main work of this project is as follows: (1) Construction of Visual SLAM system. Research has been conducted on the basic architecture of Visual SLAM. A…
In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
Visual place recognition (VPR) is the problem of recognising a previously visited location using visual information. Many attempts to improve the performance of VPR methods have been made in the literature. One approach that has received…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…
Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…
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…
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…
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…