相关论文: Thegra: Graph-based SLAM for Thermal Imagery

The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…

The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

Multi-modal scene reconstruction integrating RGB and thermal infrared data is essential for robust environmental perception across diverse lighting and weather conditions. However, extending 3D Gaussian Splatting (3DGS) to multi-spectral…

Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

In this research, we developed a graph-based framework to represent various aspects of optimal thermal management system design, with the aim of rapidly and efficiently identifying optimal design candidates. Initially, the graph-based…

Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study…

Graph signal processing represents an important advancement in the field of data analysis, extending conventional signal processing methodologies to complex networks and thereby facilitating the exploration of informative patterns and…

We introduce LightGlue, a deep neural network that learns to match local features across images. We revisit multiple design decisions of SuperGlue, the state of the art in sparse matching, and derive simple but effective improvements.…

Satellite-based slum segmentation holds significant promise in generating global estimates of urban poverty. However, the morphological heterogeneity of informal settlements presents a major challenge, hindering the ability of models…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Detecting people in images is a challenging problem. Differences in pose, clothing and lighting, along with other factors, cause a lot of variation in their appearance. To overcome these issues, we propose a system based on fused range and…

Multi-Object Tracking in thermal images is essential for surveillance systems, particularly in challenging environments where RGB cameras struggle due to low visibility or poor lighting conditions. Thermal sensors enhance recognition tasks…

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…

For conventional imaging, the imaging resolution limit is given by the Rayleigh criterion. Exploiting the prior knowledge of imaging object's sparsity and fixed optical system, imaging beyond the conventional Rayleigh limit, which is backed…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

In this work, we propose to use a local clustering approach based on the sparse solution technique to study the medical image, especially the lung cancer image classification task. We view images as the vertices in a weighted graph and the…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning…