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03/29/2022
Long-term Visual Map Sparsification with Heterogeneous GNN
We address the problem of map sparsification for long-term visual locali...
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03/26/2021
Distributed Client-Server Optimization for SLAM with Limited On-Device Resources
Simultaneous localization and mapping (SLAM) is a crucial functionality ...
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02/26/2021
Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM
This paper describes an image based visual servoing (IBVS) system for a ...
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08/23/2020
Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM
The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical char...
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03/03/2020
Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
Visual-inertial SLAM is essential for robot navigation in GPS-denied env...
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01/03/2020
Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency
Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing ...
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08/19/2019
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Rectilinear forms of snake-like robotic locomotion are anticipated to be...
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05/19/2019
Characterizing SLAM Benchmarks and Methods for the Robust Perception Age
The diversity of SLAM benchmarks affords extensive testing of SLAM algor...
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05/19/2019
Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM
This paper aims to select features that contribute most to the pose esti...
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05/19/2019