Papers Simultaneous Localization and Mapping
“Simultaneous Localization and Mapping” 태그가 달린 논문 572편 · 필터 해제
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represe…
3D ReconstructionHuman DetectionRobot Task PlanningSimultaneous Localization and Mapping+1Dense monocular Simultaneous Localization and Mapping by direct surfel optimization
This work presents a novel approach for monocular dense Simultaneous Localization and Mapping. The surface to be estimated is represented as a piecewise planar surface, defined as a group of surfels each having as parame…
Depth EstimationMonocular Depth EstimationSimultaneous Localization and MappingStatistical Outlier Identification in Multi-robot Visual SLAM using Expectation Maximization
This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can ha…
Outlier DetectionSimultaneous Localization and MappingRGB-D Odometry and SLAM
The emergence of modern RGB-D sensors had a significant impact in many application fields, including robotics, augmented reality (AR) and 3D scanning. They are low-cost, low-power and low-size alternatives to traditional…
3D Scene ReconstructionNavigatePose TrackingSimultaneous Localization and MappingPerception and Navigation in Autonomous Systems in the Era of Learning: A Survey
Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcemen…
Autonomous NavigationDecision MakingDeep LearningDeep Reinforcement Learning+15Kernel learning for visual perception
The visual perceptual system in animals allows them to assimilate information from their surroundings. In artificial intelligence, the objective of visual perception is to enable the capability of a computer system to in…
Activity RecognitionHuman Activity RecognitionLoop Closure Detectionobject-detection+8Fast and Incremental Loop Closure Detection Using Proximity Graphs
Visual loop closure detection, which can be considered as an image retrieval task, is an important problem in SLAM (Simultaneous Localization and Mapping) systems. The frequently used bag-of-words (BoW) models can achiev…
GPUImage RetrievalLoop Closure DetectionRetrieval+1SelfVIO: Self-Supervised Deep Monocular Visual-Inertial Odometry and Depth Estimation
In the last decade, numerous supervised deep learning approaches requiring large amounts of labeled data have been proposed for visual-inertial odometry (VIO) and depth map estimation. To overcome the data limitation, se…
Depth EstimationPose EstimationSelf-Supervised LearningSensor Fusion+1Tigris: Architecture and Algorithms for 3D Perception in Point Clouds
Machine perception applications are increasingly moving toward manipulating and processing 3D point cloud. This paper focuses on point cloud registration, a key primitive of 3D data processing widely used in high-level t…
3D ReconstructionGPUPoint Cloud RegistrationSimultaneous Localization and MappingAre We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAM
Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems…
BenchmarkingPose EstimationSimultaneous Localization and MappingExactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation
We present a Gaussian Variational Inference (GVI) technique that can be applied to large-scale nonlinear batch state estimation problems. The main contribution is to show how to fit both the mean and (inverse) covariance…
Simultaneous Localization and MappingState EstimationVariational InferenceAQUALOC: An Underwater Dataset for Visual-Inertial-Pressure Localization
We present a new dataset, dedicated to the development of simultaneous localization and mapping methods for underwater vehicles navigating close to the seabed. The data sequences composing this dataset are recorded in th…
Simultaneous Localization and MappingDistributed and Consistent Multi-Image Feature Matching via QuickMatch
In this work we consider the multi-image object matching problem, extend a centralized solution of the problem to a distributed solution, and present an experimental application of the centralized solution. Multi-image f…
Objectobject-detectionObject DetectionSimultaneous Localization and MappinggradSLAM: Automagically differentiable SLAM
Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that trans…
Open-Ended Question AnsweringRepresentation LearningSimultaneous Localization and MappingBayesian Integration of Multi-resolutional Grid Codes for Spatial Cognition
Fourier-like summation of several grid cell modules with different spatial frequencies in the medial entorhinal cortex (MEC) has long been proposed to form the contours of place firing fields. Recent experiments largely,…
Bayesian InferenceHippocampusSimultaneous Localization and MappingExperience Dependent Formation of Global Coherent Representation of Environment by Grid Cells and Head Direction Cells
The grid firing patterns are thought to provide an efficient intrinsic metric capable of supporting universal spatial metric for mammalian spatial navigation in all environments. However, whether spatial representations …
HippocampusSimultaneous Localization and MappingMeasuring robustness of Visual SLAM
Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.…
Robot NavigationSimultaneous Localization and MappingReal-Time 3D Reconstruction of Colonoscopic Surfaces for Determining Missing Regions
Colonoscopy is the most widely used medical technique to screen the human large intestine (colon) for cancer precursors. However, frequently parts of the surface are not visualized, and it is hard for the endoscopist to …
3D ReconstructionSimultaneous Localization and MappingKimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM…
3D ReconstructionComputational EfficiencyCPUSemantic SLAM+2SLAM-based Integrity Monitoring Using GPS and Fish-eye Camera
Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (…
Simultaneous Localization and Mapping