相关论文: R-VoxelMap: Accurate Voxel Mapping with Recursive …

Reconstructing accurate surfaces with radiance fields has achieved remarkable progress in recent years. However, prevailing approaches, primarily based on Gaussian Splatting, are increasingly constrained by representational bottlenecks. In…

Single-stream architectures using Vision Transformer (ViT) backbones show great potential for real-time UAV tracking recently. However, frequent occlusions from obstacles like buildings and trees expose a major drawback: these models often…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most Visual Odometry (VO) algorithms rely on the usage of geometric features such as points, lines and…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

Accurate 3D perception is essential for understanding the environment in autonomous driving. Recent advancements in 3D semantic occupancy prediction have leveraged camera-LiDAR fusion to improve robustness and accuracy. However, current…

In this paper, we present a novel method for using Riemannian Motion Policies on volumetric maps, shown in the example of obstacle avoidance for Micro Aerial Vehicles (MAVs). While sampling or optimization-based planners are widely used for…

This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar…

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Aerial platforms that can fly GPS-guided preplanned missions semi-autonomously are already widely available but…

This paper fosters the idea that deep learning methods can be used to complement classical visual odometry pipelines to improve their accuracy and to associate uncertainty models to their estimations. We show that the biases inherent to the…

Traditional dense volumetric representations for robotic mapping make simplifying assumptions about sensor noise characteristics due to computational constraints. We present a framework that, unlike conventional occupancy grid maps,…

LiDAR depth completion is a task that predicts depth values for every pixel on the corresponding camera frame, although only sparse LiDAR points are available. Most of the existing state-of-the-art solutions are based on deep neural…

Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…

In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…

Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…