12 accepted papers
Traditional Visual Simultaneous Localization and Mapping systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effective for accurate visual odometry in complex scenarios, these methods discard crucial information about moving objects. By incorpor…
Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present a novel factor-graph formulation and system architecture for Dynamic SLAM tha
Dynamic SLAM methods jointly estimate for the static and dynamic scene components. However, existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present a novel factor-graph formulation and system architecture for Dynamic SLAM th…
In this letter, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically, we develop a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"
This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support navigation. By capitalising on the motion estimations provided
The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical scene graph representing the spatial organization of a scene.…
Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to employ representations capable of handling moving objects. Dyn…
The Exobiology Extant Life Surveyor (EELS) is a snake-like mobile instruments platform under development at Jet Propulsion Laboratory (JPL) for a mission concept to find evidence of life on Saturn's sixth largest moon, Enceladus. To conduct a life surveying mission there, the EELS platform must firs…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and estimate their velocity in real-time. Most existing SLAM based app…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate estimation and consistent track-ability for dynamic multi-body vis…
Accurate online estimation of the environment structure simultaneously with the robot pose is a key capability for autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms make no assumptions about the configuration of the points in the environment, however, rea…
Many estimation problems in robotics rely on efficiently solving nonlinear least squares (NLS). For example, it is well known that the simultaneous localisation and mapping (SLAM) problem can be formulated as a maximum likelihood estimation (MLE) and solved using NLS, yielding a mean state vector. H…