With the extensive application of robots, such as unmanned aerial vehicle (UAV) in exploring unknown environments, visual odometry (VO) algorithms have played an increasingly important role. The environments are diverse, not always textured, or low-t...
Generally, the key issues of 2D LiDAR-based simultaneous localization and mapping (SLAM) for indoor application include data association (DA) and closed-loop detection. Particularly, a low-texture environment, which refers to no obvious changes betwe...
Cylindrical panorama stitching is able to generate high resolution images of a scene with a wide field-of-view (FOV), making it a useful scene representation for applications like environmental sensing and robot localization. Traditional image stitch...
This paper presents a real-time, robust and low-drift depth-only SLAM (simultaneous localization and mapping) method for depth cameras by utilizing both dense range flow and sparse geometry features from sequential depth images. The proposed method i...
Accurate and robust vehicle localization is essential for autonomous driving. However, existing visual pose estimation methods often struggle in scenarios dominated by repetitive structures or sparse textures. These conditions lead to ambiguous predi...
High-quality feature matching is a critical prerequisite in a wide range of applications. Most contemporary methods concentrate on detecting keypoints or line features for matching, which have achieved adequate results. However, in some low-texture e...
Point feature-based visual simultaneous localization and mapping (SLAM) systems are prone to performance degradation in low-texture environments due to insufficient extraction of point features. In this paper, we propose a tightly-coupled stereo visu...
This study introduces an enhanced ORB-SLAM3 algorithm to address the limitations of traditional visual SLAM systems in feature extraction and localization accuracy within the challenging terrains of open-pit mining environments. It also tackles the i...
Six-dimensional (6D) pose estimation remains a significant challenge in computer vision, particularly for objects in complex environments. To overcome the limitations of existing methods in occluded and low-texture scenarios, a lightweight, multiscal...
Aiming at the problem that Simultaneous localization and mapping (SLAM) is greatly disturbed by many dynamic elements in the actual environment, this paper proposes a real-time Visual SLAM (VSLAM) algorithm to deal with a dynamic indoor environment....
Visual–Inertial Odometry (VIO) algorithms are widely adopted for autonomous drone navigation in GNSS-denied environments. However, conventional monocular and stereo VIO setups often lack robustness under challenging environmental conditions or...
Simultaneous localization and mapping (SLAM) system-based indoor mapping using autonomous mobile robots in unknown environments is crucial for many applications, such as rescue scenarios, utility tunnel monitoring, and indoor 3D modeling. Researchers...
Visual simultaneous localization and mapping in indoor dynamic environments remains challenging because moving objects introduce unreliable correspondences, whilst removing dynamic feature points often leaves insufficient static features in low-textu...
The loss of localization in robots navigating GNSS-denied environments poses a critical challenge that can compromise mission success and safe operation. This article presents a method that fuses visual odometry outputs from both direct and feature-b...
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...
Pose estimation and map reconstruction are basic requirements for robotic autonomous behavior. In this paper, we propose a point–plane-based method to simultaneously estimate the robot’s poses and reconstruct the current environment&rsquo...
SLAM (simultaneous localization and mapping) plays a crucial role in autonomous robot navigation. A challenging aspect of visual SLAM systems is determining the 3D camera orientation of the motion trajectory. In this paper, we introduce an end-to-end...
Recent advances in UAV (Unmanned Aerial Vehicle)-based remote sensing have significantly enhanced the efficiency of monitoring and managing agricultural and forested areas. However, the low-altitude and narrow-field-of-view characteristics of UAVs ma...
In indoor low-texture environments, the point feature-based visual SLAM system has poor robustness and low trajectory accuracy. Therefore, we propose a visual inertial SLAM algorithm based on point-line feature fusion. Firstly, in order to improve th...
Drone-view mixed reality (MR) in the Architecture, Engineering, and Construction (AEC) sector faces significant self-localization challenges in low-texture environments, such as bare concrete sites. This study proposes an adaptive sensor fusion frame...
Reliable autonomous perception is essential for indoor service machines operating in human-centered environments, where weak textures, repetitive structures, and frequent dynamic interference often degrade localization stability. Conventional RGB-D S...
The article addresses the issue of panoramic photogrammetry for the reconstruction of interior spaces. Such environments often present challenges, including poor lighting conditions and surfaces with variable texture for photogrammetric scanning. In...
To address the challenges of unmanned aerial vehicle (UAV) navigation in weak global navigation satellite system (GNSS) environments, this study proposes a novel multimodal feature fusion framework for real-time positioning using a priori high-resolu...
Robust localization and mapping are crucial for autonomous systems, but traditional handcrafted feature-based visual SLAM often struggles in challenging, textureless environments. Additionally, monocular SLAM lacks scale-aware depth perception, makin...
In recent years, simultaneous localization and mapping with the fusion of LiDAR and vision fusion has gained extensive attention in the field of autonomous navigation and environment sensing. However, its limitations in feature-scarce (low-texture, r...
The multi-source fusion localization algorithm demonstrates advantages in achieving continuous localization. However, its reliability and robustness could not be guaranteed and still with some insufficiencies in complex environments, especially for s...
Realizing real-time dense 3D reconstruction on resource-limited mobile platforms remains a significant challenge, particularly in low-texture environments that demand robust multi-frame fusion to resolve matching ambiguities. However, the inherent ti...
Binocular stereo vision is a low-cost and scalable 3D perception technology that shows strong potential in agricultural phenotyping and smart agriculture. By estimating depth from multi-view RGB images, it enables non-contact, high-precision sensing...
Adverse weather conditions, such as fog, degrade image quality and affect the performance of deep learning-based image processing algorithms, whereas advanced driver assistance systems (ADASs) urgently demand image clarity and large-field-of-view per...
Visual geo-localization is a predominant approach for unmanned aerial vehicles (UAVs) operating in Global Navigation Satellite System (GNSS)-denied environments, typically achieved by matching UAV-captured visible optical images with satellite base m...
Net-cage aquaculture faces challenges from biofouling, which reduces water exchange and threatens structural integrity. Automated cleaning robots provide an alternative to human divers but require effective, low-cost localization. Conventional acoust...
Accurate detection of cardboard boxes is essential to mobile manipulators to perform pick-and-place operations in warehouses. Conventional object detection methods like YOLOv11 struggle in low-texture and occluded environments. This paper presents YO...
In this article, we present a novel underwater dataset collected from several field trials within the EU FP7 project “Cognitive autonomous diving buddy (CADDY)”, where an Autonomous Underwater Vehicle (AUV) was used to interact with diver...
Accurate and reliable vehicle localization is essential for autonomous driving in complex outdoor environments. Traditional feature-based visual–inertial odometry (VIO) suffers from sparse features and sensitivity to illumination, limiting robu...
The use of depth cameras in low-texture environments is crucial for ensuring the feasibility of visual simultaneous localization and mapping (SLAM) algorithms. Nevertheless, in underwater scenarios, light propagation through multi-layered media gives...
Accurate spatial localization of small, transient targets in low-texture aquatic environments remains a fundamental challenge in UAV-based remote sensing, where open-water surfaces often lack stable tie points, degrading exterior orientation estimati...
Reliable positioning and mapping in roadway tunnels are crucial for vehicle-based monitoring and inspection, especially considering the challenging environmental conditions such as rapidly changing illumination, low-texture environments, and repetiti...
High-precision plant phenotyping requires efficient 3D reconstruction methods with high geometric quality. 3D Gaussian Splatting (3DGS) has recently emerged as a promising approach for real-time 3D reconstruction, achieving impressive visual quality....
Multimodal object detection based on synthetic aperture radar (SAR) and optical imagery is of great significance in remote sensing, particularly under adverse weather conditions, nighttime environments, and complex background scenarios. Although SAR...
Unmanned aerial vehicles (UAVs) have become essential platforms for remote sensing in challenging environments such as high-dynamic-range (HDR) scenes and low-texture areas. However, conventional frame-based visual–inertial simultaneous localiz...
Timely and accurate identification of surface damage in hydraulic structures is essential for maintaining structural integrity and ensuring operational safety. Traditional manual inspections are time-consuming, labor-intensive, and prone to subjectiv...
To address the issues of insufficient robustness, large depth recovery errors, and poor scene adaptability currently present in the initialisation phase of event-based stereo visual inertial SLAM systems, we propose a global BA initialisation method...
Based on the understanding that the essence of secondary recrystallization of Goss texture is to restrain the abnormal growth of {110}<112>, {210}<001> and partial Goss texture {110}<225>, it was concluded that making sharp Goss gro...
Laser texturing with a dimple pattern was applied to modify a Ti6Al4V alloy at the micro level, aiming to improve its friction and wear resistance in combination with oil lubrication to optimize the performance in demanding industrial environments. T...
This study investigates the lubrication properties of GCr15 steel textured surfaces under the conditions of low speed, heavy load, and boundary lubrication, with varying concentrations of Al2O3 particles. Through pin-on-disk tests in 46# hydraulic fl...
Diamond-like nanocomposite (DLN) films (a-C:H:Si:O films) are characterized by their unique structure and remarkable tribological properties to be pronounced under various environmental and surface modification conditions. In this paper, we investiga...
Titanium alloy material has physical properties such as low thermal conductivity, high hardness, and surface resilience, which are prone to problems such as large milling force, low machining efficiency, and poor surface quality in processed products...
Carbon films were fabricated on the orthodontic stainless steel archwires by using a custom-designed electron cyclotron resonance (ECR) plasma sputtering deposition system under electron irradiation with the variation of substrate bias voltages from...
Infrared (IR) and visible (VIS) image fusion enhances vision tasks by combining complementary data. However, most existing methods assume normal lighting conditions and thus perform poorly in low-light environments, where VIS images often lose critic...
Engineering surfaces operating in harsh environments frequently require simultaneous resistance to abrasive wear and the minimization of interfacial adhesion. Achieving this dual functionality through a single surface modification strategy remains ch...
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