A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
Filters
Real-Time Monocular Object-Model Aware Sparse SLAM
[article]
2019
arXiv
pre-print
Preserved Fulltext
Other Versions
This work incorporates a real-time deep-learned object detector to the monocular SLAM framework for representing generic objects as quadrics that permit detections to be seamlessly integrated while allowing ...
the real-time performance. ...
CONCLUSIONS This work introduced a monocular SLAM system that can incorporate learned priors in terms of plane and object models in an online real-time capable system. ...
arXiv:1809.09149v2
fatcat:xgzexi7rkrfrxm2xi6zakjw5gu
DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
Note that this fulltext copy is not of the "primary" version of this work. The version it corresponds to is:
2021 pre-print arXiv:2108.09481v1 fatcat:qljs6c3mz5hevb52ei3begrhra
We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. ...
DSP-SLAM takes as input the 3D point cloud reconstructed by a feature-based SLAM system and equips it with the ability to enhance its sparse map with dense reconstructions of detected objects. ...
Conclusions We have presented DSP-SLAM, a new object-aware real-time SLAM system that exploits deep shape priors for object reconstruction, produces a joint map of sparse Figure 7 : Object reconstruction ...
arXiv:2108.09481v2
fatcat:2cxcoerz6vfjnkju5oskhxxuie
SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality
2018
Computer Methods and Programs in Biomedicine
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Both camera tracking and surface reconstruction based on a sparse point cloud are effective and operated in real-time. ...
A robust global 3D surface reconstruction framework has been developed for building a dense surface using only unorganized sparse point clouds extracted from the SLAM. ...
These features can enable real-time endoscopic camera tracking and sparse point mapping in an abdominal cavity as shown in Figure 1 . ...
doi:10.1016/j.cmpb.2018.02.006
pmid:29544779
fatcat:v4bhbs7wzzej7pifadeffhwzqm
DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
2021
2021 International Conference on 3D Vision (3DV)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
Figure 1: DSP-SLAM builds a rich object-aware map, providing complete detailed shapes of detected objects, while representing the background coarsely as sparse feature points. ...
Conclusions We have presented DSP-SLAM, a new object-aware real-time SLAM system that exploits deep shape priors for object reconstruction, produces a joint map of sparse point features for the background ...
[35] performed online exploration, learning object models on the fly and tracking them in real time. ...
doi:10.1109/3dv53792.2021.00143
fatcat:zle434gjcvaatklyfrt7dyhzze
A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Other Versions
The paper makes an overview in SLAM including Lidar SLAM, visual SLAM, and their fusion. ...
It's very friendly for new researchers to hold the development of SLAM and learn it very obviously. ...
Pixor: Real-time 3d object detection from point clouds. ...
arXiv:1909.05214v4
fatcat:itnluvkewfd6fel7x65wdgig3e
A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Driving
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
Global consistency and alignment between the sparse and dense models are achieved by applying pose constraints from the sparse method directly within the deformation of the dense model. ...
In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. ...
models of indoor scenes in real-time with active depth sensors such as the Microsoft Kinect. ...
arXiv:2108.07736v1
fatcat:pk4vxikqd5fq5fwhdsa5ktqebe
CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
We build on CodeSLAM and use a variational autoencoder (VAE) which is conditioned on intensity, sparse depth and reprojection error images from sparse SLAM to predict an uncertainty-aware dense depth map ...
This flexible design allows for integration with arbitrary metric sparse SLAM systems without delaying the main SLAM process. ...
Fig. 1 . 1 Top: Real-time dense mapping result (left: sparse SLAM, right:
Fig. 3 Fig. 3 . 33 shows an overview of our system. ...
arXiv:2107.08994v1
fatcat:suf6x3hqnjgfdbj7awyj6nwr2y
Building an Integrated Mobile Robotic System for Real-Time Applications in Construction
[article]
2018
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Other Versions
This is done by integrating contextual Awareness and visual SLAM into a ground robotics agent. ...
in the environment in near real-time. ...
When it comes to monocular vision-based SLAM, ORB-SLAM [19] , Direct Sparse Odometry (DSO) [20] and LSD-SLAM [21] are the widely used algorithms. ...
arXiv:1803.01745v3
fatcat:47jyqif53zcu3fkxdpmghded3m
DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization
2022
Sensors
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
To well address these drawbacks, we propose DiT-SLAM, a novel real-time Dense visual-inertial SLAM with implicit depth representation and Tightly-coupled graph optimization. ...
Recently, generating dense maps in real-time has become a hot research topic in the mobile robotics community, since dense maps can provide more informative and continuous features compared with sparse ...
Although the light-weight sparse map is very suitable for real-time SLAM systems, it also limits its further applications, such as collision-free motion planning, surface-aware AR, or object recognition ...
doi:10.3390/s22093389
pmid:35591079
pmcid:PMC9102487
fatcat:cx6f55lcjbhlfiazhsykppmaiu
SLAM in the Field: An Evaluation of Monocular Mapping and Localization on Challenging Dynamic Agricultural Environment
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Other Versions
This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. ...
Moreover, we highlight that our experiments provide meaningful insight to improve monocular SLAM systems under agricultural settings. ...
To solve those practical issues, we decided to combine a sparse, feature-based monocular SLAM with both offline and real-time MVS reconstruction algorithm. ...
arXiv:2011.01122v2
fatcat:myxe7aoaszepxij37q6t522edq
Real-time Direct Monocular SLAM with Learning-based Confidence Estimation
2019
IEEE Access
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
To tackle the localization issue, we develop a novel real-time large-scale direct SLAM model, namely, GCP-SLAM, by integrating the learning-based confidence estimation into the depth fusion and motion ...
Direct monocular simultaneous localization and mapping (SLAM) methods, for which the image intensity is used for tracking and mapping instead of sparse feature points, have gained in popularity in recent ...
PTAM [6] is the first real-time monocular SLAM method which separated localization and mapping into two threads. ...
doi:10.1109/access.2019.2928578
fatcat:f6zkvtieyfh6xgwbiq3dcaijla
An Overview on Visual SLAM: From Tradition to Semantic
2022
Remote Sensing
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
Traditional visionbased SLAM research has made many achievements, but it may fail to achieve wished results in challenging environments. ...
Deep learning has promoted the development of computer vision, and the combination of deep learning and SLAM has attracted more and more attention. ...
Real-time monocular object SLAM is the most common one, using a large number of binary words and a database of object models to provide real-time detection. ...
doi:10.3390/rs14133010
fatcat:g45tav2qc5gchp46n6eunjvb2i
Simultaneous localisation and mapping of intelligent mobile robots
2021
International Journal of Cybernetics and Cyber-Physical Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
of monocular, binocular and RGB-D cameras in VSLAM, the ORB-SLAM2 system based on the feature extraction method, the LSD-SLAM system based on the direct method, and comprehensively understanding and comparing ...
Simultaneous Localisation and Mapping (SLAM) is the key technology of mobile robot navigation. In this field, visual SLAM (VSLAM) has become a research hotspot in recent years. ...
so it cannot have the real depth for all objects. ...
doi:10.1504/ijccps.2021.113103
fatcat:nuhj2zlfhjg4flrbykkfqzvwuy
Deep Learning for Visual SLAM in Transportation Robotics: A review
2019
Transportation Safety and Environment
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Finally, future development directions of visual SLAM based on deep learning is prospected. ...
In this paper, the latest research progress of deep learning applied to the field of visual SLAM is reviewed. ...
[56] presented a unified method to recover from tracking failures and detect loop closures in the problem of monocular visual SLAM in real time. ...
doi:10.1093/tse/tdz019
fatcat:c5tj64xro5ftvcw6qwz7rgrgky
Fast 3D Semantic Mapping in Road Scenes
2019
Applied Sciences
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
In this work, we propose a fast 3D semantic mapping system based on the monocular vision by fusion of localization, mapping, and scene parsing. ...
In our framework, there is no need to make semantic inference on each frame of sequence, since the 3D point cloud data with semantic information is corresponding to sparse reference frames. ...
Semi-Dense SLAM We explore LSD-SLAM to track camera's trajectory and build consistent, large-scale maps of the environment. LSD-SLAM is a real-time, semi-dense 3D mapping method. ...
doi:10.3390/app9040631
fatcat:3iqebmhknnbfphezkanwbbuex4
« Previous
Showing results 1 — 15 out of 707 results