相关论文: Inline Photometrically Calibrated Hybrid Visual SL…

We introduce a multi-user VR co-location framework that synchronizes users within a shared virtual environment aligned to physical space. Our approach combines a motion capture system with SLAM-based inside-out tracking to deliver smooth,…

Robust, fast, and accurate human state - 6D pose and posture - estimation remains a challenging problem. For real-world applications, the ability to estimate the human state in real-time is highly desirable. In this paper, we present…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…

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…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

As a fundamental task for intelligent robots, visual SLAM has made great progress over the past decades. However, robust SLAM under highly weak-textured environments still remains very challenging. In this paper, we propose a novel visual…

As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…

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…

Visual SLAM is a key technology for many autonomous systems. However, tracking loss can lead to the creation of disjoint submaps in multimap SLAM systems like ORB-SLAM3. Because of that, these systems employ submap merging strategies. As we…

Accurate and stable feature matching is critical for computer vision tasks, particularly in applications such as Simultaneous Localization and Mapping (SLAM). While recent learning-based feature matching methods have demonstrated promising…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

Holographic light potentials generated by phase-modulating liquid-crystal spatial light modulators (SLMs) are widely used in quantum technology applications. Accurate calibration of the wavefront and intensity profile of the laser beam at…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…