相关论文: DynORecon: Dynamic Object Reconstruction for Navig…

This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…

A fully automated object reconstruction pipeline is crucial for digital content creation. While the area of 3D reconstruction has witnessed profound developments, the removal of background to obtain a clean object model still relies on…

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…

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…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM)…

Accurate object perception is essential for robotic applications such as object navigation. In this paper, we propose DQO-MAP, a novel object-SLAM system that seamlessly integrates object pose estimation and reconstruction. We employ 3D…

There is a general expectation that robots should operate in environments that consist of static and dynamic entities including people, furniture and automobiles. These dynamic environments pose challenges to visual simultaneous…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

A critical bottleneck in deep reinforcement learning (DRL) is sample inefficiency, as training high-performance agents often demands extensive environmental interactions. Model-based reinforcement learning (MBRL) mitigates this by building…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…

Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first…

We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by introducing a novel representation of sonar maps as object graphs…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

In the intersection of computer vision and robotic perception, 4D reconstruction of dynamic scenes serve as the critical bridge connecting low-level geometric sensing with high-level semantic understanding. We present DINO\_4D, introducing…

Reconstructing intricate, ever-changing environments remains a central ambition in computer vision, yet existing solutions often crumble before the complexity of real-world dynamics. We present DynaSplat, an approach that extends Gaussian…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…