相关论文: An RTK-SLAM Dataset for Absolute Accuracy Evaluati…

Numerous datasets and benchmarks exist to assess and compare Simultaneous Localization and Mapping (SLAM) algorithms. Nevertheless, their precision must follow the rate at which SLAM algorithms improved in recent years. Moreover, current…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane…

This paper contains the performance analysis and benchmarking of two popular visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The dataset…

Benchmarks stand as vital cornerstones in elevating SLAM algorithms within mobile robotics. Consequently, ensuring accurate and reproducible ground truth generation is vital for fair evaluation. A majority of outdoor ground truths are…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…

Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions. This study introduces a systematic approach employing a…

Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

Global Navigation Satellite Systems (GNSS) provide precise location, while Real Time Kinematics (RTK) allow mobile receivers (termed rovers), leveraging fixed stations, to correct errors in their Position Navigation and Timing (PNT)…

Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…

LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

The accelerating pace in the automation of agricultural tasks demands highly accurate and robust localization systems for field robots. Simultaneous Localization and Mapping (SLAM) methods inevitably accumulate drift on exploratory…

Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and…

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…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…