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

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Neural implicit representations have had a significant impact on simultaneous localization and mapping (SLAM) by enabling robots to build continuous, differentiable, and high-fidelity 3D maps from sensor data. However, as the scale and…

Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned on a DA. In this paper, we propose a novel integrated…

Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…

This paper presents a seamless algorithm for the application of the multilevel Monte Carlo (MLMC) method to the ensemble transform particle filter (ETPF). The algorithm uses a combination of optimal coupling transformations between coarse…

Sequential Monte Carlo Squared (SMC$^2$) is a Bayesian method which can infer the states and parameters of non-linear, non-Gaussian state-space models. The standard random-walk proposal in SMC$^2$ faces challenges, particularly with…

Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…

Feature detection is a common yet time-consuming module in Simultaneous Localization and Mapping (SLAM) implementations, which are increasingly deployed on power-constrained platforms, such as drones. Graphics Processing Units (GPUs) have…

In recent years, convolutional neural networks (CNNs) have become deeper in order to achieve better classification accuracy in image classification. However, it is difficult to deploy the state-of-the-art deep CNNs for industrial use due to…

Particle filtering is a numerical Bayesian technique that has great potential for solving sequential estimation problems involving non-linear and non-Gaussian models. Since the estimation accuracy achieved by particle filters improves as…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…

The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…

Differentiable rendering is a technique used in an important emerging class of visual computing applications that involves representing a 3D scene as a model that is trained from 2D images using gradient descent. Recent works (e.g. 3D…

Bio-image analysis is challenging due to inhomogeneous intensity distributions and high levels of noise in the images. Bayesian inference provides a principled way for regularizing the problem using prior knowledge. A fundamental choice is…

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,…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…