相关论文: DPVO-QAT++: Heterogeneous QAT and CUDA Kernel Fusi…
In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration…
Optimizing Deep Learning-based Simultaneous Localization and Mapping (DL-SLAM) algorithms is essential for efficient implementation on resource-constrained embedded platforms, enabling real-time on-board computation in autonomous mobile…
Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…
We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…
Accurate and robust pose estimation is a key requirement for any autonomous robot. We present cuVSLAM, a state-of-the-art solution for visual simultaneous localization and mapping, which can operate with a variety of visual-inertial sensor…
Curriculum Learning (CL), drawing inspiration from natural learning patterns observed in humans and animals, employs a systematic approach of gradually introducing increasingly complex training data during model development. Our work…
In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…
In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…
Non-volatile memory (NVM) technologies such as spin-transfer torque magnetic random access memory (STT-MRAM) and spin-orbit torque magnetic random access memory (SOT-MRAM) have significant advantages compared to conventional SRAM due to…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
This paper proposes a novel visual simultaneous localization and mapping (SLAM) system called Hybrid Depth-augmented Panoramic Visual SLAM (HDPV-SLAM), that employs a panoramic camera and a tilted multi-beam LiDAR scanner to generate…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Reliable localization in GPS-denied, visually degraded environments is critical for autonomous UAV opera- tions. This paper presents a systematic comparative evaluation of five V-SLAM systems ORB-SLAM3, DPVO, DROID-SLAM, DUSt3R, and MASt3R…
Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…
Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…