Semantic SLAM
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Benchmarks
Bonn RGB-D Dynamic
TUM RGB-D
Most implemented
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
Papers
HuMemSLAM: Efficient Human-Inspired Semantic Place Recognition for Robust Visual SLAM
Autonomous systems require reliable place recognition for efficient and effective simultaneous localisation and mapping (SLAM). Traditional geometric visual SLAM approaches rely on low-level features and geometric consis…
Visual Place RecognitionSemantic SLAMBPDA-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 SLAM