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- research-articleJuly 2024
RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting
SIGGRAPH '24: ACM SIGGRAPH 2024 Conference PapersJuly 2024, Article No.: 30, Pages 1–11https://doi.org/10.1145/3641519.3657455We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient on-the-fly ...
- research-articleJuly 2024
A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter
Robotics and Autonomous Systems (ROAS), Volume 175, Issue CMay 2024https://doi.org/10.1016/j.robot.2024.104675Highlights- A GNSS-LiDAR-inertial odometry and mapping system is developed with high efficiency and stability at the same time.
- A coarse-to-fine state estimation framework based on iterated error-state Kalman filter is provided for multi-sensor ...
Simultaneous localization and mapping (SLAM) aims to solve the problems of robot localization and mapping in unknown environments. Recent related research usually uses closed-loop correction or integrate GNSS (Global Navigation Satellite System) ...
- research-articleJune 2024
Integrating Intensity Information for Three-stage Lidar Loop Closure Detection
ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and ApplicationsSeptember 2023, Pages 17–23https://doi.org/10.1145/3655532.3655540Mainstream loop closure detection based on geometric descriptors struggles to guarantee high detection accuracy in complex environments and requires significant computational resources. To enhance the accuracy of loop closure detection while reducing ...
- research-articleJune 2024
Human-Robot Interactive System for Warehouses using Speech SLAM and Deep Learning-based Barcode Recognition
- Harish Ram Nambiappan,
- Sama Nikanfar,
- Ayon Roy,
- Joey Hussain,
- Deep Shinglot,
- Sneh Acharya,
- Nicholas Gans,
- Fillia Makedon
PETRA '24: Proceedings of the 17th International Conference on PErvasive Technologies Related to Assistive EnvironmentsJune 2024, Pages 38–44https://doi.org/10.1145/3652037.3652061This paper presents an initial investigation of a speech-based human-robot interaction system for locating items in a warehouse environment. The system uses a 2D SLAM map and visual servoing with deep learning-based barcode recognition to identify and ...
- research-articleJune 2024
DynaTM-SLAM: Fast filtering of dynamic feature points and object-based localization in dynamic indoor environments
Robotics and Autonomous Systems (ROAS), Volume 174, Issue CApr 2024https://doi.org/10.1016/j.robot.2024.104634Highlights- Rapidly and accurately determine the motion states of objects.
- Not relying on the type of objects and their previous motion information.
- Utilizing semantic information from static objects to optimize pose.
Numerous advanced simultaneous localization and mapping (SLAM) algorithms have been developed due to the scientific and technological advancements. However, their practical applicability in complex real-world scenarios is severely limited by the ...
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- research-articleJune 2024
LSMCL: Long-term Static Mapping and Cloning Localization for autonomous robot navigation using 3D LiDAR in dynamic environments
Expert Systems with Applications: An International Journal (EXWA), Volume 241, Issue CMay 2024https://doi.org/10.1016/j.eswa.2023.122688AbstractOne of the challenges in autonomous robot navigation applications is recognizing the exact location in a dynamic environment in which the location of surrounding objects changes frequently. This study proposes a long-term static mapping and ...
- research-articleJune 2024
WAIS: Leveraging WiFi for Resource-Efficient SLAM
MOBISYS '24: Proceedings of the 22nd Annual International Conference on Mobile Systems, Applications and ServicesJune 2024, Pages 561–574https://doi.org/10.1145/3643832.3661895Interest in autonomous navigation and exploration for indoor applications has spurred research into indoor Simultaneous Localization and Mapping (SLAM) robot systems. While most of these SLAM systems use camera and LiDAR sensors in tandem with an ...
- research-articleJune 2024
Radarize: Enhancing Radar SLAM with Generalizable Doppler-Based Odometry
MOBISYS '24: Proceedings of the 22nd Annual International Conference on Mobile Systems, Applications and ServicesJune 2024, Pages 331–344https://doi.org/10.1145/3643832.3661871Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors, such as ...
- research-articleMay 2024
Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
ACM MobiCom '24: Proceedings of the 30th Annual International Conference on Mobile Computing and NetworkingMay 2024, Pages 633–647https://doi.org/10.1145/3636534.3649386Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments, such as multi-level parking garages or shopping malls, remains a ...
- research-articleMay 2024
Interactive Intelligent 3D Surveying Vehicle Based on Deep Learning
VSIP '23: Proceedings of the 2023 5th International Conference on Video, Signal and Image ProcessingNovember 2023, Pages 162–169https://doi.org/10.1145/3638682.3638707With the rapid development of artificial intelligence, the emergence of intelligent vehicles has brought disruptive changes to traditional survey technology. In response to the limitations of geological environmental factors on the scope and search ...
- ArticleMay 2024
How Challenging is a Challenge for SLAM? An Answer from Quantitative Visual Evaluation
Advances in Brain Inspired Cognitive SystemsAug 2023, Pages 179–189https://doi.org/10.1007/978-981-97-1417-9_17AbstractSLAM (Simultaneously Localization and Mapping) is the fundamental technology for the application of unmanned intelligent systems, such as underwater exploration with fish robots. But various visual challenges often occur in practical environments, ...
- review-articleMay 2024
Autonomous driving system: A comprehensive survey
- Jingyuan Zhao,
- Wenyi Zhao,
- Bo Deng,
- Zhenghong Wang,
- Feng Zhang,
- Wenxiang Zheng,
- Wanke Cao,
- Jinrui Nan,
- Yubo Lian,
- Andrew F. Burke
Expert Systems with Applications: An International Journal (EXWA), Volume 242, Issue CMay 2024https://doi.org/10.1016/j.eswa.2023.122836AbstractAutomation is increasingly at the forefront of transportation research, with the potential to bring fully autonomous vehicles to our roads in the coming years. This comprehensive survey provides a holistic look at the essential components and ...
- research-articleApril 2024
An Edge Cloud Based Coordination Platform for Multi-user AR Applications
- Balázs Sonkoly,
- Bálint György Nagy,
- János Dóka,
- Zsófia Kecskés-Solymosi,
- János Czentye,
- Bence Formanek,
- Dávid Jocha,
- Balázs Péter Gerő
Journal of Network and Systems Management (JNSM), Volume 32, Issue 2Apr 2024https://doi.org/10.1007/s10922-024-09809-9AbstractAugmented Reality (AR) applications can reshape our society enabling novel ways of interactions and immersive experiences in many fields. However, multi-user and collaborative AR applications pose several challenges. The expected user experience ...
- research-articleMarch 2024
A multi-sensor fusion framework with tight coupling for precise positioning and optimization
AbstractIn the dynamic landscape of artificial intelligence and robotics, the pursuit of accurate positioning in mobile robots has intensified. This research addresses the limitations of single-sensor SLAM (Simultaneous Localization and Mapping) ...
Highlights- Introduces a tightly coupled multi-sensor SLAM framework that harnesses the synergies of LiDAR, Camera, IMU, and GNSS.
- Laser–visual–inertial odometry fusion system optimizes pose estimation, overcoming limitations of standalone ...
- research-articleFebruary 2024
A Contactless Delivery Solution for Intelligent Unmanned Vehicles Based on Multi-Source Sensing Signals
Procedia Computer Science (PROCS), Volume 228, Issue C2023, Pages 1000–1009https://doi.org/10.1016/j.procs.2023.11.131AbstractIn this paper, we propose an intelligent contactless delivery scheme for unmanned vehicles based on multi-source sensing signals. Our objective is to address the problem of delivering items in special scenarios that require contactless delivery, ...
- research-articleFebruary 2024
Deep Feature-based RGB-D Odometry using SuperPoint and SuperGlue
Procedia Computer Science (PROCS), Volume 227, Issue C2023, Pages 1127–1134https://doi.org/10.1016/j.procs.2023.10.624AbstractThis paper presents a deep feature-based RGB-D odometry system using SuperPoint and SuperGlue. Geometry- based visual odometry systems face challenges, such as tracking failures in difficult scenes and scale ambiguity. As for the scale ambiguity ...
- research-articleFebruary 2024
VI-NeRF-SLAM: a real-time visual–inertial SLAM with NeRF mapping
Journal of Real-Time Image Processing (SPJRTIP), Volume 21, Issue 2Apr 2024https://doi.org/10.1007/s11554-023-01412-6AbstractIn numerous robotic and autonomous driving tasks, traditional visual SLAM algorithms estimate the camera’s position in a scene through sparse feature points and express the map by estimating the depth of sparse point clouds. However, practical ...
- research-articleJanuary 2024
Topological belief space planning for active SLAM with pairwise Gaussian potentials and performance guarantees
International Journal of Robotics Research (RBRS), Volume 43, Issue 1Jan 2024, Pages 69–97https://doi.org/10.1177/02783649231204898Determining a globally optimal solution of belief space planning (BSP) in high-dimensional state spaces directly is computationally expensive, as it involves belief propagation and objective function evaluation for each candidate action. However, many ...
- research-articleJanuary 2024
QN-SAM-LIVO: A Multi-Sensor Tightly Coupled SLAM Framework Based on Coarse-to-Fine Loop Closure Detection
AAIA '23: Proceedings of the 2023 International Conference on Advances in Artificial Intelligence and ApplicationsNovember 2023, Pages 343–348https://doi.org/10.1145/3603273.3635240In order to attain precise and robust transformation estimation in simultaneous localization and mapping (SLAM) tasks, the integration of multiple sensors has demonstrated effectiveness and significant potential in robotics applications. QN-SAM-LIVO is a ...
- research-articleJanuary 2024
ReSLAM: Reusable SLAM with heterogeneous cameras
- Francisco J. Romero-Ramirez,
- Rafael Muñoz-Salinas,
- Manuel J. Marín-Jiménez,
- Angel Carmona-Poyato,
- Rafael Medina-Carnicer
AbstractState-of-the-art SLAM methods are designed to work only with the type of camera employed to create the map, and little attention has been paid to the reusability of the maps created. In other words, the maps generated by current methods can only ...
Highlights- Proposed new SLAM system able to work with multiple and heterogeneous cameras.
- An internal bottom-up image representation allows comparing keypoints of cameras with different optics and resolutions.
- Different cameras can reuse a ...