no code implementations • 7 Nov 2021 • Yuxin Tian, Yujie Wang, Ming Ouyang, Xuesong Shi
This paper presents a hierarchical segment-based optimization method for Simultaneous Localization and Mapping (SLAM) system.
no code implementations • ICCV 2021 • Zike Yan, Yuxin Tian, Xuesong Shi, Ping Guo, Peng Wang, Hongbin Zha
We introduce an experience replay approach to tackle an exemplary task of continual neural mapping: approximating a continuous signed distance function (SDF) from sequential depth images as a scene geometry representation.
no code implementations • 5 Feb 2021 • Ming Ouyang, Xuesong Shi, Yujie Wang, Yuxin Tian, Yingzhe Shen, Dawei Wang, Peng Wang, Zhiqiang Cao
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots.
1 code implementation • 1 Dec 2020 • Dongjiang Li, Jinyu Miao, Xuesong Shi, Yuxin Tian, Qiwei Long, Tianyu Cai, Ping Guo, Hongfei Yu, Wei Yang, Haosong Yue, Qi Wei, Fei Qiao
Experimental results show that the proposed RaP-Net trained with OpenLORIS-Location dataset achieves excellent performance in the feature matching task and significantly outperforms state-of-the-arts feature algorithms in indoor localization.
3 code implementations • 12 Aug 2020 • Dongjiang Li, Xuesong Shi, Qiwei Long, Shenghui Liu, Wei Yang, Fangshi Wang, Qi Wei, Fei Qiao
For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and association is still empirically designed in most cases, and can be vulnerable in complex environments.
Loop Closure Detection Simultaneous Localization and Mapping
2 code implementations • 15 Nov 2019 • Qi She, Fan Feng, Xinyue Hao, Qihan Yang, Chuanlin Lan, Vincenzo Lomonaco, Xuesong Shi, Zhengwei Wang, Yao Guo, Yimin Zhang, Fei Qiao, Rosa H. M. Chan
Yet, robotic vision poses unique challenges for applying visual algorithms developed from these standard computer vision datasets due to their implicit assumption over non-varying distributions for a fixed set of tasks.
no code implementations • 13 Nov 2019 • Xuesong Shi, Dongjiang Li, Pengpeng Zhao, Qinbin Tian, Yuxin Tian, Qiwei Long, Chunhao Zhu, Jingwei Song, Fei Qiao, Le Song, Yangquan Guo, Zhigang Wang, Yimin Zhang, Baoxing Qin, Wei Yang, Fangshi Wang, Rosa H. M. Chan, Qi She
We also design benchmarking metrics for lifelong SLAM, with which the robustness and accuracy of pose estimation are evaluated separately.