Results 21 to 30 of about 55,943 (277)
Voxel Map for Visual SLAM [PDF]
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice for this task, due to several inherent limitations, such as weak geometric reasoning and poor scalability.
Manasi Muglikar +2 more
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STDC-SLAM: A Real-Time Semantic SLAM Detect Object by Short-Term Dense Concatenate Network
IEEE Access, 2022 Visual Simultaneous Localization and Mapping (SLAM) plays an important role in computer vision and robotic field. With the development of Convolutional Neural Network (CNN), most scholars currently fuse CNN with visual SLAM to reduce the impact of ...
Zhangfang Hu +3 more
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SDF-SLAM: Semantic Depth Filter SLAM for Dynamic Environments
IEEE Access, 2020 Simultaneous Localization and Mapping (SLAM) has been widely applied in computer vision and robotics. For the dynamic environments which are very common in the real word, traditional visual SLAM system faces significant drop in localization and mapping ...
Linyan Cui, Chaowei Ma
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Visual-inertial curve SLAM [PDF]
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016 We present a simultaneous localization and mapping (SLAM) algorithm that uses Bezier curves as static landmark primitives rather than sparse feature points. Our approach allows us to estimate the full 6-DOF pose of a robot while providing a structured map which can be used to assist a robot in motion planning and control.
Kevin C. Meier +2 more
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Measuring robustness of Visual SLAM [PDF]
2019 16th International Conference on Machine Vision Applications (MVA), 2019 Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2 \cite{mur2017orb}, demonstrate really impressive accuracy, but the experiments in the papers are usually conducted on just
David Prokhorov +4 more
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Visual SLAM with an Omnidirectional Camera [PDF]
2010 20th International Conference on Pattern Recognition, 2010 In this work we integrate the Spherical Camera Model for catadioptric systems in a Visual-SLAM application. The Spherical Camera Model is a projection model that unifies central catadioptric and conventional cameras. To integrate this model into the Extended Kalman Filter-based SLAM we require to linearize the direct and the inverse projection. We have
Alejandro Rituerto +2 more
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An Improved Visual SLAM Based on Map Point Reliability under Dynamic Environments
Applied Sciences, 2023 The visual simultaneous localization and mapping (SLAM) method under dynamic environments is a hot and challenging issue in the robotic field. The oriented FAST and Rotated BRIEF (ORB) SLAM algorithm is one of the most effective methods.
Jianjun Ni +3 more
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A Review of Visual-LiDAR Fusion based Simultaneous Localization and Mapping
Sensors, 2020 Autonomous navigation requires both a precise and robust mapping and localization solution. In this context, Simultaneous Localization and Mapping (SLAM) is a very well-suited solution.
César Debeunne, Damien Vivet
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A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization
Remote Sensing, 2021 LiDAR (light detection and ranging), as an active sensor, is investigated in the simultaneous localization and mapping (SLAM) system. Typically, a LiDAR SLAM system consists of front-end odometry and back-end optimization modules.
Shoubin Chen +4 more
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DEEP LEARNING TO SUPPORT 3D MAPPING CAPABILITIES OF A PORTABLE VSLAM-BASED SYSTEM [PDF]
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2023 The use of vision-based localization and mapping techniques, such as visual odometry and SLAM, has become increasingly prevalent in the field of Geomatics, particularly in mobile mapping systems. These methods provide real-time estimation of the 3D scene
N. Padkan +4 more
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