Papers Simultaneous Localization and Mapping
“Simultaneous Localization and Mapping” 태그가 달린 논문 572편 · 필터 해제
From SLAM to Situational Awareness: Challenges and Survey
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable a…
Decision MakingSensor FusionSimultaneous Localization and MappingState Estimation+1The Hilti SLAM Challenge Dataset
Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has p…
Pose EstimationSensor FusionSimultaneous Localization and MappingSuperquadric Object Representation for Optimization-based Semantic SLAM
Introducing semantically meaningful objects to visual Simultaneous Localization And Mapping (SLAM) has the potential to improve both the accuracy and reliability of pose estimates, especially in challenging scenarios wit…
ObjectObject RecognitionOpen-Ended Question AnsweringSemantic SLAM+1AirLoop: Lifelong Loop Closure Detection
Loop closure detection is an important building block that ensures the accuracy and robustness of simultaneous localization and mapping (SLAM) systems. Due to their generalization ability, CNN-based approaches have recei…
Incremental LearningLifelong learningLoop Closure DetectionSimultaneous Localization and MappingLoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition
Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an ap…
3D Place RecognitionRetrievalSimultaneous Localization and MappingStochastic Observer for SLAM on the Lie Group
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed obser…
Simultaneous Localization and MappingSO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints
Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM…
ObjectObject SLAMSimultaneous Localization and MappingA Computationally Efficient EK-PMBM Filter for Bistatic mmWave Radio SLAM
Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM probl…
Simultaneous Localization and MappingState EstimationOptimal Target Shape for LiDAR Pose Estimation
Targets are essential in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and simultaneous localization and mapping (SLAM). Target shapes for these t…
Object TrackingPose EstimationQuantizationSimultaneous Localization and Mapping+1RPR-Net: A Point Cloud-based Rotation-aware Large Scale Place Recognition Network
Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previou…
Autonomous DrivingPoint Cloud RetrievalRetrievalSimultaneous Localization and MappingDSP-SLAM: Object Oriented SLAM with Deep Shape Priors
We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the…
3D Object ReconstructionObjectObject SLAMSemantic SLAM+1Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. In this work, we focus on the paramet…
Simultaneous Localization and MappingSABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use st…
Model Predictive ControlMotion PlanningNavigateQ-Learning+1AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers…
Depth EstimationObjectSimultaneous Localization and MappingSound Source LocalizationmmWave Simultaneous Localization and Mapping Using a Computationally Efficient EK-PHD Filter
Future cellular networks that utilize millimeter wave signals provide new opportunities in positioning and situational awareness. Large bandwidths combined with large antenna arrays provide unparalleled delay and angle r…
PositionSimultaneous Localization and MappingPoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time
Dynamic environments that include unstructured moving objects pose a hard problem for Simultaneous Localization and Mapping (SLAM) performance. The motion of rigid objects can be typically tracked by exploiting their tex…
Pose EstimationSimultaneous Localization and MappingAutomatic Vocabulary and Graph Verification for Accurate Loop Closure Detection
Localizing pre-visited places during long-term simultaneous localization and mapping, i.e. loop closure detection (LCD), is a crucial technique to correct accumulated inconsistencies. As one of the most effective and eff…
Loop Closure DetectionSimultaneous Localization and MappingWireless Indoor Simultaneous Localization and Mapping Using Reconfigurable Intelligent Surface
Indoor wireless simultaneous localization and mapping (SLAM) is considered as a promising technique to provide positioning services in future 6G systems. However, the accuracy of traditional wireless SLAM system heavily …
Simultaneous Localization and MappingDirichlet process approach for radio-based simultaneous localization and mapping
Due to 5G millimeter wave (mmWave), spatial channel parameters are becoming highly resolvable, enabling accurate vehicle localization and mapping. We propose a novel method of radio simultaneous localization and mapping …
ClusteringSimultaneous Localization and MappingCooperative mmWave PHD-SLAM with Moving Scatterers
Using the multiple-model (MM) probability hypothesis density (PHD) filter, millimeter wave (mmWave) radio simultaneous localization and mapping (SLAM) in vehicular scenarios is susceptible to movements of objects, in par…
Simultaneous Localization and Mapping