相关论文: Range-based 6-DoF Monte Carlo SLAM with Gradient-g…

SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatting SLAM systems usually struggle with large scene…

Visual SLAM is particularly challenging in environments affected by noise, varying lighting conditions, and darkness. Learning-based optical flow algorithms can leverage multiple modalities to address these challenges, but traditional…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…

We propose a randomized version of the non-local means (NLM) algorithm for large-scale image filtering. The new algorithm, called Monte Carlo non-local means (MCNLM), speeds up the classical NLM by computing a small subset of image patch…

In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

We present an efficient incremental SLAM back-end that achieves the accuracy of full batch optimization while substantially reducing computational cost. The proposed approach combines two complementary ideas: information-guided gating (IGG)…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…

Dynamic programming (DP) is a cornerstone of combinatorial optimization, yet its inherently sequential structure has long limited its scalability in scenario-based stochastic programming (SP). This paper introduces a GPU-accelerated…

The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

During the last two decades there has been a growing interest in Particle Filtering (PF). However, PF suffers from two long-standing problems that are referred to as sample degeneracy and impoverishment. We are investigating methods that…

"Particle methods" are sequential Monte Carlo algorithms, typically involving importance sampling, that are used to estimate and sample from joint and marginal densities from a collection of a, presumably increasing, number of random…

Multi-object state estimation is a fundamental problem for robotic applications where a robot must interact with other moving objects. Typically, other objects' relevant state features are not directly observable, and must instead be…

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…

A series of novel filters for probabilistic inference that propose an alternative way of performing Bayesian updates, called particle flow filters, have been attracting recent interest. These filters provide approximate solutions to…

Large language models (LLMs) have achieved significant performance gains via scaling up model sizes and/or data. However, recent evidence suggests diminishing returns from such approaches, motivating scaling the computation spent at…

We propose a novel, vision-only object-level SLAM framework for automotive applications representing 3D shapes by implicit signed distance functions. Our key innovation consists of augmenting the standard neural representation by a…