Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints [PDF]
Sensors, 2015 A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM).
Heng Zhang, Yanli Liu, Jindong Tan
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RGB-D Object SLAM Using Quadrics for Indoor Environments
Sensors, 2020 Indoor service robots need to build an object-centric semantic map to understand and execute human instructions. Conventional visual simultaneous localization and mapping (SLAM) systems build a map using geometric features such as points, lines, and ...
Ziwei Liao, Xianyu Qi
exaly +3 more sources
A Compatible Framework for RGB-D SLAM in Dynamic Scenes [PDF]
IEEE Access, 2019 Localization and mapping in a dynamic scene is a crucial problem for the indoor visual simultaneous localization and mapping (SLAM) system. Most existed visual odometry (VO) or SLAM systems are based on the assumption that the environment is static.
Lili Zhao +5 more
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SGDO-SLAM: A Semantic RGB-D SLAM System with Coarse-to-Fine Dynamic Rejection and Static Weighted Optimization [PDF]
SensorsVision sensor-based simultaneous localization and mapping (SLAM) systems are essential for mobile robots to locate and generate spatial models of their surroundings.
Qiming Hu +7 more
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SY-SLAM: Real-Time Dynamic Indoor RGB-D SLAM with SuperPoint Detection and Asynchronous YOLOv8s-Based Keypoint Suppression [PDF]
SensorsTraditional visual SLAM pipelines are typically designed under the static-world assumption and often degrade severely in indoor environments with frequent human motion.
Shaoshuai Zhi +7 more
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Loop Closure with 3D Gaussian Splatting for Dynamic SLAM [PDF]
SensorsRobust pose estimation and high-fidelity scene reconstruction in dynamic environments represent core challenges in the field of Visual Simultaneous Localization and Mapping (SLAM).
Zhanwu Ma, Wansheng Cheng, Song Fan
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A Novel RGB-D SLAM Algorithm Based on Cloud Robotics [PDF]
Sensors, 2019 Heng Zhang, Liu Yanli
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RGB-D SLAM with Structural Regularities [PDF]
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments offer, in addition to points, also an abundance of geometrical features such as lines and planes, which we exploit ...
Yanyan Li 0001 +4 more
openaire +2 more sources
RGB-D SLAM Algorithm Based on K-Means Clustering and Deep Learning [PDF]
Jisuanji gongcheng, 2022 The traditional RGB-D visual Simultaneous Localization and Mapping(SLAM) algorithms often generate wrong data associations when recognizing dynamic features in dynamic scenarios, which leads to a loss in the accuracy of posture estimation.To address the ...
ZHANG Chenyang, HUANG Teng, WU Zhuangzhuang
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PL-GM:RGB-D SLAM With a Novel 2D and 3D Geometric Constraint Model of Point and Line Features
IEEE Access, 2021 In the study of RGB-D SLAM (Simultaneous Localization and Mapping), two types of primary visual features, point and line features, have been widely utilized to calculate the camera pose.
Chenyang Zhang
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