相关论文: Towards Revisiting Visual Place Recognition for Jo…

For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Visual Simultaneous Localization and Mapping (vSLAM) is a prevailing technology for many emerging robotic applications. Achieving real-time SLAM on mobile robotic systems with limited computational resources is challenging because the…

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…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study,…

A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the…

Visual Place Recognition (VPR) is a critical task in computer vision, traditionally enhanced by re-ranking retrieval results with image matching. However, recent advancements in VPR methods have significantly improved performance,…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…

The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…

Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We…

With the rise of deep learning, there is a fundamental change in visual SLAM algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of the implementation domain, visual SLAM's performance is…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…

The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to complete in a timely manner for each frame…

Visual simultaneous localization and mapping (vSLAM) and 3D reconstruction methods have gone through impressive progress. These methods are very promising for autonomous vehicle and consumer robot applications because they can map…