相关论文: pySLAM: An Open-Source, Modular, and Extensible Fr…

Considering the scene's dynamics is the most effective solution to obtain an accurate perception of unknown environments for real vSLAM applications. Most existing methods attempt to address the non-rigid scene assumption by combining…

Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can…

We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…

Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

Geometry foundation models have significantly advanced dense geometric SLAM, yet existing systems often lack deep semantic understanding and robust loop closure capabilities. Meanwhile, contemporary semantic mapping approaches are…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to monocular SLAM remains challenging due to the lack of…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and…

Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

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…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…

One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigation to provide rich…

The recent surge in open-source Multimodal Large Language Models (MLLM) frameworks, such as LLaVA, provides a convenient kickoff for artificial intelligence developers and researchers. However, most of the MLLM frameworks take vision as the…

Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying illumination conditions often degrade performance. Existing…

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for…