Papers Semantic SLAM
“Semantic SLAM” 태그가 달린 논문 53편 · 필터 해제
BPDA-GMM: Bayesian Probabilistic Data Association via Gaussian Mixture Models for Semantic SLAM
Probabilistic data association (PDA) improves semantic SLAM in perceptually aliased scenes, but existing methods often assume a fixed landmark set, recompute association weights as the map grows, or rely on hand-tuned nu…
Semantic SLAMRADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments
We present RADIO-ViPE (Reduce All Domains Into One -- Video Pose Engine), an online semantic SLAM system that enables geometry-aware open-vocabulary grounding, associating arbitrary natural language queries with localize…
Natural Language QueriesSemantic SLAMGS3LAM: Gaussian Semantic Splatting SLAM
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availa…
Semantic SLAMPathSpace: Rapid continuous map approximation for efficient SLAM using B-Splines in constrained environments
Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density infor…
Autonomous VehiclesDecision MakingSemantic SLAMIRIS-SLAM: Unified Geo-Instance Representations for Robust Semantic Localization and Mapping
Geometry foundation models have significantly advanced dense geometric SLAM, yet existing systems often lack deep semantic understanding and robust loop closure capabilities. Meanwhile, contemporary semantic mapping appr…
Semantic SLAMSceneVGGT: VGGT-based online 3D semantic SLAM for indoor scene understanding and navigation
We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a slid…
Scene UnderstandingChange DetectionSemantic SLAMFeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real time
We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature raste…
Semantic SLAMKM-ViPE: Online Tightly Coupled Vision-Language-Geometry Fusion for Open-Vocabulary Semantic SLAM
We present KM-ViPE (Knowledge Mapping Video Pose Engine), a real-time open-vocabulary SLAM framework for uncalibrated monocular cameras in dynamic environments. Unlike systems requiring depth sensors and offline calibrat…
Semantic SLAMTaming the Light: Illumination-Invariant Semantic 3DGS-SLAM
Extreme exposure degrades both the 3D map reconstruction and semantic segmentation accuracy, which is particularly detrimental to tightly-coupled systems. To achieve illumination invariance, we propose a novel semantic S…
Semantic SegmentationSemantic SLAMBuilding temporally coherent 3D maps with VGGT for memory-efficient Semantic SLAM
We present a fast, spatio-temporal scene understanding framework based on Visual Geometry Grounded Transformer (VGGT). The proposed pipeline is designed to enable efficient, close to real-time performance, supporting app…
Scene UnderstandingSemantic SLAMSemantic Visual Simultaneous Localization and Mapping: A Survey on State of the Art, Challenges, and Future Directions
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information …
Visual LocalizationSemantic SLAMHuman Interaction for Collaborative Semantic SLAM using Extended Reality
Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex environments. However, these systems strugg…
Semantic SLAMTree-SLAM: semantic object SLAM for efficient mapping of individual trees in orchards
Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creat…
Instance SegmentationSemantic SLAMGS4: Generalizable Sparse Splatting Semantic SLAM
Traditional SLAM algorithms are excellent at camera tracking but might generate lower resolution and incomplete 3D maps. Recently, Gaussian Splatting (GS) approaches have emerged as an option for SLAM with accurate, dens…
3D Semantic SegmentationSemantic SegmentationSemantic SLAMGeneA-SLAM2: Dynamic SLAM with AutoEncoder-Preprocessed Genetic Keypoints Resampling and Depth Variance-Guided Dynamic Region Removal
Existing semantic SLAM in dynamic environments mainly identify dynamic regions through object detection or semantic segmentation methods. However, in certain highly dynamic scenarios, the detection boxes or segmentation …
object-detectionObject DetectionPose EstimationSemantic Segmentation+1GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field
Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into …
3D Scene ReconstructionPose TrackingSemantic SegmentationSemantic SLAMOpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding
Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers …
Scene UnderstandingSemantic SLAMPanoSLAM: Panoptic 3D Scene Reconstruction via Gaussian SLAM
Understanding geometric, semantic, and instance information in 3D scenes from sequential video data is essential for applications in robotics and augmented reality. However, existing Simultaneous Localization and Mapping…
3D Instance Segmentation3D Reconstruction3D Scene Reconstruction3D Semantic Segmentation+5Open-Vocabulary Online Semantic Mapping for SLAM
This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors…
SegmentationSemantic SLAMSimultaneous Localization and MappingHier-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting
We propose Hier-SLAM, a semantic 3D Gaussian Splatting SLAM method featuring a novel hierarchical categorical representation, which enables accurate global 3D semantic mapping, scaling-up capability, and explicit semanti…
Scene UnderstandingSemantic SegmentationSemantic SLAM