Graph-based SLAM using architectural floor plans without loop closure
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DOI: 10.1080/01691864.2022.2081513
Abstract: In simultaneous localization and mapping (SLAM), map distortions appear due to the accumulation of pose estimation errors. Loop closure of graph-based SLAM is known as one of the major solutions to this problem. However, there… read more here.
Keywords: floor plans; loop closure; closure; graph based ... See more keywords
Robust 3D Reconstruction Using HDR-Based SLAM
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DOI: 10.1109/access.2021.3051257
Abstract: 3D reconstruction is an important topic in the field of the emerging applications such as smart robotics, virtual reality (VR), augmented reality (AR), and autonomous driving. RGB-D simultaneous localization and mapping (SLAM) technique is widely… read more here.
Keywords: reconstruction; based slam; hdr based; reconstruction using ... See more keywords
Continuous-Time Vs. Discrete-Time Vision-Based SLAM: A Comparative Study
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143303
Abstract: Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understanding of success and failure cases. However, discrete-time SLAM needs tailored algorithms and… read more here.
Keywords: time; continuous time; based slam; vision based ... See more keywords
An Efficient Global Optimality Certificate for Landmark-Based SLAM
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DOI: 10.1109/lra.2023.3238173
Abstract: Modern state estimation is often formulated as an optimization problem and solved using efficient local search methods. These methods at best guarantee convergence to local minima, but, in some cases, global optimality can also be… read more here.
Keywords: certificate; optimality; global optimality; landmark based ... See more keywords
Hong Kong World: Leveraging Structural Regularity for Line-based SLAM.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on pattern analysis and machine intelligence"
DOI: 10.1109/tpami.2023.3276204
Abstract: Manhattan and Atlanta worlds hold for the structured scenes with only vertical and horizontal dominant directions (DDs). To describe the scenes with additional sloping DDs, a mixture of independent Manhattan worlds seems plausible, but may… read more here.
Keywords: hong kong; kong world; structural regularity; line based ... See more keywords
A Comprehensive Survey of Visual SLAM Algorithms
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DOI: 10.3390/robotics11010024
Abstract: Simultaneous localization and mapping (SLAM) techniques are widely researched, since they allow the simultaneous creation of a map and the sensors’ pose estimation in an unknown environment. Visual-based SLAM techniques play a significant role in… read more here.
Keywords: slam; visual based; visual slam; slam techniques ... See more keywords