Papers Simultaneous Localization and Mapping
“Simultaneous Localization and Mapping” 태그가 달린 논문 572편 · 필터 해제
KP2Dtiny: Quantized Neural Keypoint Detection and Description on the Edge
Detection and description of keypoints in images is a fundamental component of a wide range of tasks such as Simultaneous Localization And Mapping (SLAM), image alignment and structure from motion (SfM). Efficient comput…
Homography EstimationKeypoint DetectionQuantizationSimultaneous Localization and MappingPEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single mono…
parameter estimationSimultaneous Localization and MappingUncLe-SLAM: Uncertainty Learning for Dense Neural SLAM
We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking an…
Simultaneous Localization and MappingInvestigation of the Challenges of Underwater-Visual-Monocular-SLAM
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state…
Image EnhancementImage RestorationSimultaneous Localization and MappingState EstimationiSLAM: Imperative SLAM
Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating…
Bilevel OptimizationMotion EstimationRobot NavigationSelf-Supervised Learning+1Volume-DROID: A Real-Time Implementation of Volumetric Mapping with DROID-SLAM
This paper presents Volume-DROID, a novel approach for Simultaneous Localization and Mapping (SLAM) that integrates Volumetric Mapping and Differentiable Recurrent Optimization-Inspired Design (DROID). Volume-DROID takes…
Point Cloud GenerationPoint Cloud RegistrationSemantic SegmentationSimultaneous Localization and MappingHow To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers
Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, curre…
Imitation LearningNavigateObjectSimultaneous Localization and MappingTowards View-invariant and Accurate Loop Detection Based on Scene Graph
Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and…
DescriptiveSimultaneous Localization and MappingFEDORA: Flying Event Dataset fOr Reactive behAvior
The ability of resource-constrained biological systems such as fruitflies to perform complex and high-speed maneuvers in cluttered environments has been one of the prime sources of inspiration for developing vision-based…
Autonomous NavigationDepth Estimationobject-detectionObject Detection+2A Fast and Robust Camera-IMU Online Calibration Method For Localization System
Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visu…
Autonomous DrivingDecision MakingSensor FusionSimultaneous Localization and MappingRotation Synchronization via Deep Matrix Factorization
In this paper we address the rotation synchronization problem, where the objective is to recover absolute rotations starting from pairwise ones, where the unknowns and the measures are represented as nodes and edges of a…
Matrix CompletionSimultaneous Localization and MappingDesign, Implementation and Evaluation of an External Pose-Tracking System for Underwater Cameras
In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground tru…
Pose TrackingSimultaneous Localization and MappingSet-Type Belief Propagation with Applications to Poisson Multi-Bernoulli SLAM
Belief propagation (BP) is a useful probabilistic inference algorithm for efficiently computing approximate marginal probability densities of random variables. However, in its standard form, BP is only applicable to the …
Simultaneous Localization and MappingVocal Bursts Type PredictionEgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensors
Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the tw…
Simultaneous Localization and MappingNeural Implicit Dense Semantic SLAM
Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously…
3D geometryScene UnderstandingSemantic SegmentationSemantic SLAM+1Event-based Simultaneous Localization and Mapping: A Comprehensive Survey
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual…
Motion CompensationSimultaneous Localization and MappingSurveyLearning How To Robustly Estimate Camera Pose in Endoscopic Videos
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but rema…
3D ReconstructionCamera Pose EstimationOptical Flow EstimationPose Estimation+2Range-Only Bearing Estimator for Localization and Mapping
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing infor…
Simultaneous Localization and MappingMultipath-based SLAM for Non-Ideal Reflective Surfaces Exploiting Multiple-Measurement Data Association
Multipath-based simultaneous localization and mapping (SLAM) is a promising approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future mo…
Simultaneous Localization and MappingSingle Particle AnalysisLoop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency
Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection me…
Graph MatchingLoop Closure DetectionObjectSimultaneous Localization and Mapping