相关论文: SPAQ-DL-SLAM: Towards Optimizing Deep Learning-bas…

Deep reinforcement learning (DRL)-based slicing policies have shown significant success in simulated environments but face challenges in physical systems such as open radio access networks (O-RANs) due to simulation-to-reality gaps. These…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…

Simultaneous Localization and Mapping (SLAM) is the problem of constructing a map of a mobile agent's environment while localizing the agent within the map. Dense SLAM algorithms perform reconstruction and localization at pixel granularity.…

Monocular SLAM historically suffers from scale ambiguity and tracking failure in dynamic environments. While recent vision foundation models (VFMs) provide remarkable zero-shot depth priors, naively integrating these deterministic…

Built upon the decision tree (DT) classification and regression idea, the subspace learning machine (SLM) has been recently proposed to offer higher performance in general classification and regression tasks. Its performance improvement is…

To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…

Distributed deep learning (DL) has become prevalent in recent years to reduce training time by leveraging multiple computing devices (e.g., GPUs/TPUs) due to larger models and datasets. However, system scalability is limited by…

Progress in artificial intelligence and machine learning over the past decade has been driven by the ability to train larger deep neural networks (DNNs), leading to a compute demand that far exceeds the growth in hardware performance…

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…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

Energy-efficient simultaneous localization and mapping (SLAM) is crucial for mobile robots exploring unknown environments. The mammalian brain solves SLAM via a network of specialized neurons, exhibiting asynchronous computations and…

Simultaneous Localization and Mapping (SLAM) is a fundamental task in robotics, driving numerous applications such as autonomous driving and virtual reality. Recent progress on neural implicit SLAM has shown encouraging and impressive…

Although large-scale self-supervised learning (SSL) models like WavLM have achieved state-of-the-art performance in speech processing, their significant size impedes deployment on resource-constrained devices. While structured pruning is a…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is sometimes challenging without GT tracking sensors. As an…

To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…