the archive
#visual slam
3 resultscs.RO2019
View management for lifelong visual maps
Nandan Banerjee, Ryan C. Connolly, Dimitri Lisin +3
The paper proposes a method to prune unnecessary views in a graph‑based visual SLAM system, improving speed and accuracy for long‑term operation in memory‑ and computation‑constrai…
#visual slam#view pruning#lifelong mapping#map management
cs.CV2019
EMPNet: Neural Localisation and Mapping Using Embedded Memory Points
Gil Avraham, Yan Zuo, Thanuja Dharmasiri +1
The paper presents EMPNet, a neural network that stores rigidly aligned point embeddings from RGB-D observations in a memory module to jointly estimate an agent's pose and map its…
#visual slam#memory networks#point embeddings#rgb-d mapping
cs.RO2019
Movable-Object-Aware Visual SLAM via Weakly Supervised Semantic Segmentation
Ting Sun, Yuxiang Sun, Ming Liu +1
The paper introduces a weakly‑supervised semantic segmentation approach to identify and remove moving objects in visual SLAM, integrating it with ORB‑SLAM2 and demonstrating improv…
#visual slam#weakly supervised segmentation#moving object detection#motion removal