相关论文: SharpSLAM: 3D Object-Oriented Visual SLAM with Deb…

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…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

We propose Unblur-SLAM, a novel RGB SLAM pipeline for sharp 3D reconstruction from blurred image inputs. In contrast to previous work, our approach is able to handle different types of blur and demonstrates state-of-the-art performance in…

The choice of scene representation is crucial in both the shape inference algorithms it requires and the smart applications it enables. We present efficient and optimisable multi-class learned object descriptors together with a novel…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sensitivity to artifacts and noise, suboptimal selection of…

We present FlashSLAM, a novel SLAM approach that leverages 3D Gaussian Splatting for efficient and robust 3D scene reconstruction. Existing 3DGS-based SLAM methods often fall short in sparse view settings and during large camera movements…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…

We present Deblur-SLAM, a robust RGB SLAM pipeline designed to recover sharp reconstructions from motion-blurred inputs. The proposed method bridges the strengths of both frame-to-frame and frame-to-model approaches to model sub-frame…

Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…

Aiming at the application environment of indoor mobile robots, this paper proposes a sparse object-level SLAM algorithm based on an RGB-D camera. A quadric representation is used as a landmark to compactly model objects, including their…

Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many methods have been proposed to deal with this problem; however, the…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

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…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…