相关论文: SCE-SLAM: Scale-Consistent Monocular SLAM via Scen…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…

Real-time monocular 3D reconstruction is a challenging problem that remains unsolved. Although recent end-to-end methods have demonstrated promising results, tiny structures and geometric boundaries are hardly captured due to their…

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

Realistic reconstruction of dynamic 4D scenes from monocular videos is essential for understanding the physical world. Despite recent progress in neural rendering, existing methods often struggle to recover accurate 3D geometry and…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

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…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…