相关论文: FlexCloud: Direct, Modular Georeferencing and Drif…

Accurate visual localization is crucial for autonomous driving, yet existing methods face a fundamental dilemma: While high-definition (HD) maps provide high-precision localization references, their costly construction and maintenance…

To handle the different types of surface reconstruction tasks, we have replicated as well as modified a few of reconstruction methods and have made comparisons between the traditional method and data-driven method for reconstruction the…

As robotics technology advances, dense point cloud maps are increasingly in demand. However, dense reconstruction using a single unmanned aerial vehicle (UAV) suffers from limitations in flight speed and battery power, resulting in slow…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

Flood prediction is critical for emergency planning and response to mitigate human and economic losses. Traditional physics-based hydrodynamic models generate high-resolution flood maps using numerical methods requiring fine-grid…

Neural implicit scene representations have recently shown encouraging results in dense visual SLAM. However, existing methods produce low-quality scene reconstruction and low-accuracy localization performance when scaling up to large indoor…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

Depth maps are widely used in feed-forward 3D Gaussian Splatting (3DGS) pipelines by unprojecting them into 3D point clouds for novel view synthesis. This approach offers advantages such as efficient training, the use of known camera poses,…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…

Camera geo-localization from a monocular video is a fundamental task for video analysis and autonomous navigation. Although 3D reconstruction is a key technique to obtain camera poses, monocular 3D reconstruction in a large environment…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions. This study introduces a systematic approach employing a…

We present a robust and accurate depth refinement system, named GeoRefine, for geometrically-consistent dense mapping from monocular sequences. GeoRefine consists of three modules: a hybrid SLAM module using learning-based priors, an online…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, however, remains challenging in unstructured, dynamic…