Motion removal for reliable RGB-D SLAM in dynamic environments

Y Sun, M Liu, MQH Meng - Robotics and Autonomous Systems, 2018 - Elsevier
RGB-D data-based Simultaneous Localization and Mapping (RGB-D SLAM) aims to
concurrently estimate robot poses and reconstruct traversed environments using RGB-D …

Robust dense mapping for large-scale dynamic environments

IA Bârsan, P Liu, M Pollefeys… - 2018 IEEE International …, 2018 - ieeexplore.ieee.org
We present a stereo-based dense mapping algorithm for large-scale dynamic urban
environments. In contrast to other existing methods, we simultaneously reconstruct the static …

A robust laser-inertial odometry and mapping method for large-scale highway environments

S Zhao, Z Fang, HL Li, S Scherer - 2019 IEEE/RSJ International …, 2019 - ieeexplore.ieee.org
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve
real-time, low-drift and robust pose estimation in large-scale highway environments. The …

Cnn for very fast ground segmentation in velodyne lidar data

M Velas, M Spanel, M Hradis… - 2018 IEEE International …, 2018 - ieeexplore.ieee.org
This paper presents a novel method for ground segmentation in Velodyne point clouds. We
propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a …

Deep pose graph-matching-based loop closure detection for semantic visual SLAM

R Duan, Y Feng, CY Wen - Sustainability, 2022 - mdpi.com
This work addresses the loop closure detection issue by matching the local pose graphs for
semantic visual SLAM. We propose a deep feature matching-based keyframe retrieval …

A Comprehensive Review of Vision-Based 3D Reconstruction Methods

L Zhou, G Wu, Y Zuo, X Chen, H Hu - Sensors, 2024 - mdpi.com
With the rapid development of 3D reconstruction, especially the emergence of algorithms
such as NeRF and 3DGS, 3D reconstruction has become a popular research topic in recent …

Moving object detection by 3D flow field analysis

C Jiang, DP Paudel, D Fofi, Y Fougerolle… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
Map-based localization and sensing are one of the key components in autonomous driving
technologies, where high quality 3D map reconstruction is fundamentally utmost important …

Active and interactive mapping with dynamic gaussian process implicit surfaces for mobile manipulators

L Liu, S Fryc, L Wu, TL Vu, G Paul… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
In this letter, we present an interactive probabilistic mapping framework for a mobile
manipulator picking objects from a pile. The aim is to map the scene, actively decide where …

LiDAR-based Real-Time Object Detection and Tracking in Dynamic Environments

W Du, G Beltrame - arXiv preprint arXiv:2407.04115, 2024 - arxiv.org
In dynamic environments, the ability to detect and track moving objects in real-time is crucial
for autonomous robots to navigate safely and effectively. Traditional methods for dynamic …

Multi-modal semantic slam for complex dynamic environments

H Wang, JY Ko, L Xie - arXiv preprint arXiv:2205.04300, 2022 - arxiv.org
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in
many real-world robotic applications. The assumption of static environments is common in …