4 papers
DINO-VO: Learning Where to Focus for Enhanced State Estimation
Qi Chen, Guanghao Li, Sijia Hu +4
We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on…
A2DO: Adaptive Anti-Degradation Odometry with Deep Multi-Sensor Fusion for Autonomous Navigation
Hui Lai, Qi Chen, Junping Zhang +1
Accurate localization is essential for the safe and effective navigation of autonomous vehicles, and Simultaneous Localization and Mapping (SLAM) is a cornerstone technology in thi…
PAPL-SLAM: Principal Axis-Anchored Monocular Point-Line SLAM
Guanghao Li, Yu Cao, Qi Chen +2
In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through struc…
EC-SLAM: Effectively Constrained Neural RGB-D SLAM with Sparse TSDF Encoding and Global Bundle Adjustment
Guanghao Li, Qi Chen, YuXiang Yan +1
We introduce EC-SLAM, a real-time dense RGB-D simultaneous localization and mapping (SLAM) system leveraging Neural Radiance Fields (NeRF). While recent NeRF-based SLAM systems hav…