相关论文: A Sigma Point-based Low Complexity Algorithm for M…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves…
This study investigates a downlink rate-splitting multiple access (RSMA) scenario in which multiple base stations (BSs), employing a coordinated multi-point (CoMP) transmission scheme, serve users equipped with movable antenna (MA)…
Simultaneous Localization and Mapping (SLAM) presents a formidable challenge in robotics, involving the dynamic construction of a map while concurrently determining the precise location of the robotic agent within an unfamiliar environment.…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) has drawn increasing interests in autonomous driving. However, LiDAR-SLAM suffers from accumulating errors which can be significantly mitigated by Global…
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…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
The massive exploitation of robots for industry 4.0 needs advanced wireless solutions that replace less flexible and more costly wired networks. In this regard, millimeter-waves (mm-waves) can provide high data rates, but they are…
We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM)…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
This paper introduces a novel incremental distributed back-end algorithm for Collaborative Simultaneous Localization and Mapping (C-SLAM). For real-world deployments, robotic teams require algorithms to compute a consistent state estimate…
The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of…
The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
As a green and secure wireless transmission method, secure spatial modulation (SM) is becoming a hot research area. Its basic idea is to exploit both the index of activated transmit antenna and amplitude phase modulation signal to carry…
In this paper, a novel pinching antenna-aided spatial multiplexing (PASM) architecture is conceived, which intrinsically amalgamates the benefits of flexible radiating element placement with radio-frequency (RF) chain transmission.…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…