相关论文: Thegra: Graph-based SLAM for Thermal Imagery
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…
Thermal imaging is often compromised by dynamic, complex degradations caused by hardware limitations and unpredictable environmental factors. The scarcity of high-quality infrared data, coupled with the challenges of dynamic, intricate…
In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…
This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular…
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…
Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…
In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…
This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…
Transforming a thermal infrared image into a robust perceptual colour Visible image is an ill-posed problem due to the differences in their spectral domains and in the objects' representations. Objects appear in one spectrum but not…
In robot vision, thermal cameras hold great potential for recognizing humans even in complete darkness. However, their application to multi-person tracking (MPT) has been limited due to data scarcity and the inherent difficulty of…
Recently, self-supervised learning of depth and ego-motion from thermal images shows strong robustness and reliability under challenging scenarios. However, the inherent thermal image properties such as weak contrast, blurry edges, and…
Deep learning-based detection networks have made remarkable progress in autonomous driving systems (ADS). ADS should have reliable performance across a variety of ambient lighting and adverse weather conditions. However, luminance…
Despite advancements in SLAM technologies, robust operation under challenging conditions such as low-texture, motion-blur, or challenging lighting remains an open challenge. Such conditions are common in applications such as assistive…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
Autonomous systems rely on sensors to estimate the environment around them. However, cameras, LiDARs, and RADARs have their own limitations. In nighttime or degraded environments such as fog, mist, or dust, thermal cameras can provide…