Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the influence of dynamic objects. However, it is still challenging to apply a robust localization in dynamic environments for resource-restricted robots. This paper proposes a real-time RGB-D inertial odometry system for resource-restricted robots in dynamic environments named Dynamic-VINS. Three main threads run in parallel: object detection, feature tracking, and state optimization. The proposed Dynamic-VINS combines object detection and depth information for dynamic feature recognition and achieves performance comparable to semantic segmentation. Dynamic-VINS adopts grid-based feature detection and proposes a fast and efficient method to extract high-quality FAST feature points. IMU is applied to predict motion for feature tracking and moving consistency check. The proposed method is evaluated on both public datasets and real-world applications and shows competitive localization accuracy and robustness in dynamic environments. Yet, to the best of our knowledge, it is the best-performance real-time RGB-D inertial odometry for resource-restricted platforms in dynamic environments for now. The proposed system is open source at: https://github.com/HITSZ-NRSL/Dynamic-VINS.git

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of the emerging implicit representation with the active reconstruction task. We build an implicit occupancy field as our geometry proxy. While training, the prior object bounding box is utilized as auxiliary information to generate clean and detailed reconstructions. To evaluate view uncertainty, we employ a sampling-based approach that directly extracts entropy from the reconstructed occupancy probability field as our measure of view information gain. This eliminates the need for additional uncertainty maps or learning. Unlike previous methods that compare view uncertainty within a finite set of candidates, we aim to find the next-best-view (NBV) on a continuous manifold. Leveraging the differentiability of the implicit representation, the NBV can be optimized directly by maximizing the view uncertainty using gradient descent. It significantly enhances the method's adaptability to different scenarios. Simulation and real-world experiments demonstrate that our approach effectively improves reconstruction accuracy and efficiency of view planning in active reconstruction tasks. The proposed system is open-sourced at https://github.com/HITSZ-NRSL/ActiveImplicitRecon.git .

This paper presents a robust framework for monocular camera pose estimation by leveraging high-fidelity, pre-built 3D LiDAR maps. The core of our approach is a render-and-match pipeline that synthesizes photorealistic views from a dense LiDAR point cloud. By detecting and matching keypoints between these synthetic images and the live camera feed, we establish reliable 3D–2D correspondences for accurate pose estimation. We evaluate two distinct strategies: an Online Rendering and Tracking method that renders views on the fly, and an Offline Keypoint-Map Tracking method that precomputes a keypoint map for known trajectories, optimizing for computational efficiency. Comprehensive experiments demonstrate that our framework significantly outperforms several state-of-the-art visual SLAM systems in both accuracy and tracking consistency. By anchoring localization to the stable geometric information from the LiDAR map, our method overcomes the reliance on photometric consistency that often causes failures in purely image-based systems, proving particularly effective in challenging real-world environments.