The autonomous navigation and environment exploration of mobile robots are carried out on the premise of the ability of environment sensing. Simultaneous localisation and mapping (SLAM) is the key algorithm in perceiving and mapping an environment in...
Simultaneous Localization and Mapping (SLAM) algorithms are crucial for enabling agents to estimate their position in unknown environments. In autonomous navigation systems, these algorithms need to operate in real-time on devices with limited resour...
This paper improves the accuracy of a mine robot’s positioning and mapping for rapid rescue. Specifically, we improved the FastSLAM algorithm inspired by the lion swarm optimization method. Through the division of labor between different indivi...
Simultaneous localization and mapping (SLAM) is crucial and challenging for autonomous underwater vehicle (AUV) autonomous navigation in complex and uncertain ocean environments. However, inaccurate time-varying observation noise parameters may lead...
In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented....
Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings s...
Simultaneous Localization and Mapping (SLAM) is a well-known solution for mapping and realizing autonomous navigation of an Autonomous Underwater Vehicle (AUV) in unknown underwater environments. However, the inaccurate time-varying observation noise...
In the realm of mobile robotics, the capability to navigate and map uncharted territories is paramount, and Simultaneous Localization and Mapping (SLAM) stands as a cornerstone technology enabling this capability. While traditional SLAM methods like...
Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing t...
This article introduces a tracked-leg transformable robot, TALBOT. The mechanical and electrical design, control method, and environment perception based on LiDAR are discussed. The original tracked-leg transformable structure allows the robot to swi...
With the rapid advancement of mobile robotics technology, Simultaneous Localization and Mapping (SLAM) has become indispensable for enabling robots to autonomously navigate and construct maps of unknown environments in real time. Traditional SLAM alg...
Simultaneous Localization and Mapping (SLAM) is an active area of robot research. SLAM with a laser range finder (LRF) is effective for localization and navigation. However, commercial robots usually have to use low-cost LRF sensors, which result in...
In complex environments such as those with low textures or obvious brightness changes, point features extracted from a traditional FAST algorithm cannot perform well in pose estimation. Simultaneously, the number of point features extracted from FAST...
In view of traditional point-line feature visual inertial simultaneous localization and mapping (SLAM) system, which has weak performance in accuracy so that it cannot be processed in real time under the condition of weak indoor texture and light and...
Due to its advantages of low latency, low power consumption, and high flexibility, FPGA-based acceleration technology has been more and more widely studied and applied in the field of computer vision in recent years. An FPGA-based feature extraction...
Real-time 3D reconstruction combined with MAVs has garnered significant attention in a variety of fields, including building maintenance, geological exploration, emergency rescue, and cultural heritage protection. While MAVs possess the advantages of...
The depth information of abdominal tissue surface and the position of laparoscope are very important for accurate surgical navigation in computer-aided surgery. It is difficult to determine the lesion location by empirically matching the laparoscopic...
Simultaneous localization and mapping (SLAM) is an essential component for smart robot operations in unknown confined spaces such as indoors, tunnels and underground. This paper proposes a novel tightly-coupled ranging-LiDAR-inertial simultaneous loc...
This paper presents a new method of removing mismatches of redundant points based on oriented fast and rotated brief (ORB) in vision simultaneous localization and mapping (SLAM) systems. On the one hand, the grid-based motion statistics (GMS) algorit...
In recent years, the rapid development of unmanned aerial vehicle (UAV) technologies has made data acquisition increasingly convenient, and three-dimensional (3D) reconstruction has emerged as a popular subject of research in this context. These 3D m...
Simultaneous Localization and Mapping (SLAM) has long been a fundamental and challenging task in robotics literature, where safety and reliability are the critical issues for successfully autonomous applications of robots. Classically, the SLAM probl...
This paper presents an approach to implem enting centralized multirobot simultaneous localization and mapping (MR-SLAM) in an unknown environment based on LiDAR sensors. The suggested implementation addresses two main challenges faced in MR-SLAM, par...
In practical applications, how to achieve a perfect balance between high accuracy and computational efficiency can be the main challenge for simultaneous localization and mapping (SLAM). To solve this challenge, we propose SD-VIS, a novel fast and ac...
Advancements in robotics and mapping technology have spotlighted the development of Simultaneous Localization and Mapping (SLAM) systems as a key research area. However, the high cost of advanced SLAM systems poses a significant barrier to research a...
Under realistic environmental conditions, heuristic-based data association and map management routines often result in divergent map and trajectory estimates in robotic Simultaneous Localization And Mapping (SLAM). To address these issues, SLAM solut...
Simultaneous Localization and Mapping (SLAM) is crucial for the safe navigation of autonomous systems. Its accuracy is not based solely on the robustness of the algorithm employed or the metrological performances of the sensor, but rather on a combin...
Simultaneous localization and mapping (SLAM) represents a crucial algorithm in the autonomous navigation of ground vehicles. Several studies were conducted to improve the SLAM algorithm using various sensors and robot platforms. However, only a few w...
Simultaneous Localization and Mapping (SLAM) technology is one of the best methods for fast 3D reconstruction and mapping. However, the accuracy of SLAM is not always high enough, which is currently the subject of much research interest. Panoramic vi...
Oriented feature from the accelerated segment test (oFAST) and rotated binary robust independent elementary features (rBRIEF) SLAM2 (ORB-SLAM2) represent a recognized complete visual simultaneous location and mapping (SLAM) framework with visual odom...
Simultaneous localization and mapping (SLAM) is emerging as a prominent issue in computer vision and next-generation core technology for robots, autonomous navigation and augmented reality. In augmented reality applications, fast camera pose estimati...
SLAM technology, which is used for spatial recognition in autonomous driving and robotics, has recently emerged as an important technology to provide high-quality AR contents on mobile devices due to the spread of XR and metaverse technologies. In th...
Positioning mobile systems with high accuracy is a prerequisite for intelligent autonomous behavior, both in industrial environments and in field robotics. This paper describes the setup of a robotic platform and its use for the evaluation of simulta...
Simultaneous localisation and mapping (SLAM) is crucial in mobile robotics. Most visual SLAM systems assume that the environment is static. However, in real life, there are many dynamic objects, which affect the accuracy and robustness of these syste...
The visual simultaneous localization and mapping (SLAM) method under dynamic environments is a hot and challenging issue in the robotic field. The oriented FAST and Rotated BRIEF (ORB) SLAM algorithm is one of the most effective methods. However, the...
Augmented Reality (AR) has increasingly benefited from the use of Simultaneous Localization and Mapping (SLAM) systems. This technology has enabled developers to create AR markerless applications, but lack semantic understanding of their environment....
This work presents Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM), an augmented version of Oriented FAST (Features from accelerated segment test) and Rotated BRIEF (Binary Robust Independent Elementary Features) feature de...
With the development of artificial intelligence technology, visual simultaneous localization and mapping (SLAM) has become a cheap and efficient localization method for underwater robots. However, there are many problems in underwater visual SLAM, su...
In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented F...
Simultaneous Localization and Mapping (SLAM) is a fundamental technique in mobile robotics, enabling autonomous navigation and environmental reconstruction. However, dynamic elements in real-world scenes—such as walking pedestrians, moving vehi...
Noise appears in images captured by real cameras. This paper studies the influence of noise on monocular feature-based visual Simultaneous Localization and Mapping (SLAM). First, an open-source synthetic dataset with different noise levels is introdu...
The maturity of simultaneous localization and mapping (SLAM) methods has now reached a significant level that motivates in-depth and problem-specific reviews. The focus of this study is to investigate the evolution of vision-based, LiDAR-based, and a...
Outdoor autonomous mobile robots heavily rely on GPS data for localization. However, GPS data can be erroneous and signals can be interrupted in highly urbanized areas or areas with incomplete satellite coverage, leading to localization deviations. I...
The integration of semantic simultaneous localization and mapping (SLAM) with 3D object detection in indoor scenes is a significant challenge in the field of robot perception. Existing methods typically rely on expensive sensors and lack robustness a...
To achieve a high precision estimation of indoor robot motion, a tightly coupled RGB-D visual-inertial SLAM system is proposed herein based on multiple features. Most of the traditional visual SLAM methods only rely on points for feature matching and...
In this paper, the concept of ultrametric structure is intertwined with the SLAM procedure. A set of pre-existing transformations has been used to create a new simultaneous localization and mapping (SLAM) algorithm. We have developed two new parallel...
Visual Simultaneous Localization and Mapping (VSLAM) is a prerequisite for robots to accomplish fully autonomous movement and exploration in unknown environments. At present, many impressive VSLAM systems have emerged, but most of them rely on the st...
The accuracy and stability of front-end point cloud registration algorithms are crucial for the mapping and localization precision in laser SLAM (simultaneous localization and mapping) systems. Traditional point-to-line and point-to-plane iterative c...
As one of the core technologies for autonomous mobile robots, Visual Simultaneous Localization and Mapping (VSLAM) has been widely researched in recent years. However, most state-of-the-art VSLAM adopts a strong scene rigidity assumption for analytic...
Localization and mapping technologies are of great importance for all varieties of Unmanned Aerial Vehicles (UAVs) to perform their operations. In the near future, it is planned to increase the use of micro/nano-size UAVs. Such vehicles are sometimes...
SLAM is a critical technology for enabling autonomous navigation and positioning in unmanned vehicles. Traditional visual simultaneous localization and mapping algorithms are built upon the assumption of a static scene, overlooking the impact of dyna...
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