DUDG-SLAM: Dynamic Replay and Depth-Uncertainty-Guided Gaussian SLAM for Robust RGB-D Reconstruction [PDF]
SensorsRGB-D SLAM systems based on 3D Gaussian Splatting (3DGS) often suffer from map degradation caused by diminishing historical supervision, noisy depth observations, and local-window optimization during online reconstruction.
Jingwen Liu +3 more
doaj +2 more sources
A New RGB-D SLAM Method with Moving Object Detection for Dynamic Indoor Scenes
Remote Sensing, 2019 Simultaneous localization and mapping (SLAM) methods based on an RGB-D camera have been studied and used in robot navigation and perception. So far, most such SLAM methods have been applied to a static environment. However, these methods are incapable of
Runzhi Wang +3 more
exaly +3 more sources
Visual-Inertial RGB-D SLAM with Encoder Integration of ORB Triangulation and Depth Measurement Uncertainties [PDF]
SensorsIn recent years, the accuracy of visual SLAM (Simultaneous Localization and Mapping) technology has seen significant improvements, making it a prominent area of research.
Zhan-Wu Ma, Wan-Sheng Cheng
doaj +2 more sources
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
doaj +2 more sources
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
doaj +2 more sources
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
doaj +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
doaj +1 more source
SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM [PDF]
, 2023 This work presents SID-SLAM, a complete SLAM framework for RGB-D cameras. Our main contribution is a semi- direct approach that, for the first time, combines tightly and indistinctly photometric and feature-based image measurements. Additionally, SID-
Oliva, Laura +10 more
core +1 more source
A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios
IEEE Access, 2023 The accuracy of RGB-D SLAM systems is sensitive to the image quality, and can be significantly compromised in adverse situations such as when input images are blurry, lacking in texture features, or overexposed.
Xi Lin +6 more
doaj +1 more source
Dense RGB SLAM with Neural Implicit Maps [PDF]
, 2023 There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM.
Yang, Luwei +5 more
core +2 more sources