3.5k citations · 3.6k across the 34 of their papers we have counts for
38 papers
Data-Association-Free Landmark-based SLAM
Yihao Zhang, Odin A. Severinsen, John J. Leonard +2
We study landmark-based SLAM with unknown data association: our robot navigates in a completely unknown environment and has to simultaneously reason over its own trajectory, the po…
Optimizing Fiducial Marker Placement for Improved Visual Localization
Qiangqiang Huang, Joseph DeGol, Victor Fragoso +2
Adding fiducial markers to a scene is a well-known strategy for making visual localization algorithms more robust. Traditionally, these marker locations are selected by humans who…
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
Antoni Rosinol, John J. Leonard, Luca Carlone
We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances…
Probabilistic Volumetric Fusion for Dense Monocular SLAM
Antoni Rosinol, John J. Leonard, Luca Carlone
We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconst…
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Robust Change Detection Based on Neural Descriptor Fields
Jiahui Fu, Yilun Du, Kurran Singh +2
The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so tha…