相关论文: Keyframe-based Dense Mapping with the Graph of Vie…

Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recover the camera pose and the deformation of the map. These…

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components…

Keypoint detection and tracking in traditional image frames are often compromised by image quality issues such as motion blur and extreme lighting conditions. Event cameras offer potential solutions to these challenges by virtue of their…

Learning robust local image feature matching is a fundamental low-level vision task, which has been widely explored in the past few years. Recently, detector-free local feature matchers based on transformers have shown promising results,…

The process of decomposing target images into their internal properties is a difficult task due to the inherent ill-posed nature of the problem. The lack of data required to train a network is a one of the reasons why the decomposing…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision…

The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data, suffering from challenges with small objects and sensor…

In this work, we propose a novel paradigm to encode the position of targets for target tracking in videos using transformers. The proposed paradigm, Dense Spatio-Temporal (DST) position encoding, encodes spatio-temporal position information…

Accurate vehicle type classification serves a significant role in the intelligent transportation system. It is critical for ruler to understand the road conditions and usually contributive for the traffic light control system to response…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

We introduce the Normalized Matching Transformer (NMT), a deep learning approach for efficient and accurate sparse semantic keypoint matching between image pairs. NMT consists of a strong visual backbone, geometric feature refinement via…

Nuclear Scene Data Fusion (SDF), implemented in the Localization and Mapping Platform (LAMP) fuses three-dimensional (3D), real-time volumetric reconstructions of radiation sources with contextual information (e.g. LIDAR, camera, etc.)…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at…

Deformable medical image registration plays an important role in clinical diagnosis and treatment. Recently, the deep learning (DL) based image registration methods have been widely investigated and showed excellent performance in…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…