Papers Simultaneous Localization and Mapping
“Simultaneous Localization and Mapping” 태그가 달린 논문 572편 · 필터 해제
Robust Monocular SLAM for Egocentric Videos
Regardless of the tremendous progress, a truly general purpose pipeline for Simultaneous Localization and Mapping (SLAM) remains a challenge. We investigate the reported failure of state of the art (SOTA) SLAM techniques…
Simultaneous Localization and MappingOriginal Loop-closure Detection Algorithm for Monocular vSLAM
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study on…
Loop Closure DetectionSimultaneous Localization and MappingMonocular Visual Odometry for an Unmanned Sea-Surface Vehicle
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawback…
Monocular Visual OdometrySimultaneous Localization and MappingVisual LocalizationVisual OdometryNeural SLAM: Learning to Explore with External Memory
We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous L…
Reinforcement LearningReinforcement Learning (RL)Simultaneous Localization and MappingCo-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracki…
Instance SegmentationObjectObject SLAMSemantic SLAM+1Magnetic-Visual Sensor Fusion based Medical SLAM for Endoscopic Capsule Robot
A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and the…
DiagnosticSensor FusionSimultaneous Localization and MappingSurface ReconstructionA Non-Rigid Map Fusion-Based RGB-Depth SLAM Method for Endoscopic Capsule Robots
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases …
DiagnosticSimultaneous Localization and MappingChallenges in Monocular Visual Odometry: Photometric Calibration, Motion Bias and Rolling Shutter Effect
Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Neverthel…
Monocular Visual OdometrySimultaneous Localization and MappingVisual OdometrySLAM with Objects using a Nonparametric Pose Graph
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires…
Simultaneous Localization and MappingOnline Spatial Concept and Lexical Acquisition with Simultaneous Localization and Mapping
In this paper, we propose an online learning algorithm based on a Rao-Blackwellized particle filter for spatial concept acquisition and mapping. We have proposed a nonparametric Bayesian spatial concept acquisition model…
Language ModelingLanguage ModellingSimultaneous Localization and MappingView Selection with Geometric Uncertainty Modeling
Estimating positions of world points from features observed in images is a key problem in 3D reconstruction, image mosaicking,simultaneous localization and mapping and structure from motion. We consider a special instanc…
3D ReconstructionSimultaneous Localization and MappingPop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys lit…
Motion PlanningScene UnderstandingSimultaneous Localization and MappingState EstimationAugmented Reality for Depth Cues in Monocular Minimally Invasive Surgery
One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigati…
Simultaneous Localization and MappingSurface ReconstructionMonocular LSD-SLAM Integration within AR System
In this paper, we cover the process of integrating Large-Scale Direct Simultaneous Localization and Mapping (LSD-SLAM) algorithm into our existing AR stereo engine, developed for our modified "Augmented Reality Oculus Ri…
Simultaneous Localization and MappingKeyframe-Based Visual-Inertial Online SLAM with Relocalization
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to v…
Pose TrackingSimultaneous Localization and MappingA Survey of Structure from Motion
The structure from motion (SfM) problem in computer vision is the problem of recovering the three-dimensional ($3$D) structure of a stationary scene from a set of projective measurements, represented as a collection of t…
Motion EstimationSimultaneous Localization and MappingSurveyDeepVO: A Deep Learning approach for Monocular Visual Odometry
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread succe…
Autonomous NavigationDeep LearningGeneral Classificationimage-classification+6Construction Inspection through Spatial Database
This paper presents a novel pipeline for development of an efficient set of tools for extracting information from the video of a structure, captured by an Unmanned Aircraft System (UAS) to produce as-built documentation …
Simultaneous Localization and MappingMultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the …
PositionSelf-Driving CarsSimultaneous Localization and MappingORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of …
Simultaneous Localization and MappingVisual Odometry