• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Book chapter
  • Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation
  • RU
  • EN
Расширенный поиск
Высшая школа экономики
Национальный исследовательский университет
Priority areas
  • business informatics
  • economics
  • engineering science
  • humanitarian
  • IT and mathematics
  • law
  • management
  • mathematics
  • sociology
  • state and public administration
by year
  • 2028
  • 2027
  • 2026
  • 2025
  • 2024
  • 2023
  • 2022
  • 2021
  • 2020
  • 2019
  • 2018
  • 2017
  • 2016
  • 2015
  • 2014
  • 2013
  • 2012
  • 2011
  • 2010
  • 2009
  • 2008
  • 2007
  • 2006
  • 2005
  • 2004
  • 2003
  • 2002
  • 2001
  • 2000
  • 1999
  • 1998
  • 1997
  • 1996
  • 1995
  • 1994
  • 1993
  • 1992
  • 1991
  • 1990
  • 1989
  • 1988
  • 1987
  • 1986
  • 1985
  • 1984
  • 1983
  • 1982
  • 1981
  • 1980
  • 1979
  • 1978
  • 1977
  • 1976
  • 1975
  • 1974
  • 1973
  • 1972
  • 1971
  • 1970
  • 1969
  • 1968
  • 1967
  • 1966
  • 1965
  • 1964
  • 1963
  • 1958
  • More
Subject
News
August 25, 2026
Scientists Develop Algorithm for More Reliable Processors in Data Centres
Researchers from HSE MIEM and Samara University have developed the LRF-3D algorithm to automatically bypass idle nodes in three-dimensional networks-on-chip. Thanks to its hierarchical architecture, the algorithm outperforms existing solutions in both speed and path accuracy, improving processor reliability for use in data centres, supercomputers, and AI computing. The source code and test results are publicly available.
August 24, 2026
Researchers Develop Method for Direct Generation of Regulatory DNA
Researchers at HSE University have developed a model for generating promoters and enhancers—DNA sequences that regulate gene activity. The model works directly with DNA nucleotides, without first transforming them into a continuous numerical representation. This solution could be useful for applications in synthetic biology and gene therapy. The study results were presented at the ICLR 2026 Workshop ‘Generative AI in Genomics (Gen^2): Barriers and Frontiers.’
August 21, 2026
Social Integration: At the Crossroads of Knowledge and Values
The International Laboratory for Social Integration Research (ILSIR) at HSE University studies the challenges faced by vulnerable groups and explores ways to help them participate fully in everyday life. To develop effective solutions, the laboratory’s researchers combine cutting-edge methods with practical fieldwork. In this interview with the HSE News Service, Laboratory Head Elena Iarskaia-Smirnova discusses the laboratory’s work.

 

Have you spotted a typo?
Highlight it, click Ctrl+Enter and send us a message. Thank you for your help!

Publications
  • Books
  • Articles
  • Chapters of books
  • Working papers
  • Report a publication
  • Research at HSE

?

Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation

P. 23–33.
Bokovoy A., Yakovlev K.

The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud maps, obtained by feature-based vSLAM algorithms. Map post-processing is split into 2 major steps: (1) noise and outlier removal and (2) upsampling. We evaluate different combinations of known algorithms for outlier removing and upsampling on datasets of real indoor and outdoor environments and identify the most promising combination. We further use it to convert a point-cloud map, obtained by the real UAV performing indoor flight to 3D voxel grid (octo-map) potentially suitable for path planning.

Language: English
DOI
Text on another site
Keywords: SLAMКартирование и локализация

In book

Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings
Springer, 2018.
Similar publications
Evaluation of Topological Mapping Methods in Indoor Environments
Kirill Muravyev, Yakovlev K., IEEE Access 2023 Vol. 11 P. 132683–132698
Mapping is one of the key components of mobile robot navigation. Representing a map as a topological structure is suitable for fast path planning and does not require high positioning precision or high computational resources, which is particularly useful in large environments. In recent years, numerous methods of topological graph building have emerged. Most of ...
Added: March 19, 2024
Comparison of Monocular ROS-Based Visual SLAM Methods
Safarova L., Abbyasov B., Tsoy T. et al., , in: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings.: Springer, 2022. P. 81–92.
Added: January 31, 2023
Partially unknown environment exploration algorithm for a mobile robot
Zakiev A., Lavrenov R., Magid E. et al., Journal of Advanced Research in Dynamical and Control Systems 2019 Vol. 11 No. 8 P. 1743–1753
This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot ...
Added: October 10, 2021
Map-Merging Algorithms for Visual SLAM: Feasibility Study and Empirical Evaluation
Bokovoy A., Muravyev K., Yakovlev K., , in: Artificial Intelligence. RCAI 2020.: Switzerland: Springer, 2020. P. 46–60.
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of constructing accurate-enough maps that enable a mobile robot to autonomously navigate an unknown environment. In this work, we are interested in an ...
Added: November 2, 2020
VinySLAM: An indoor SLAM method for low-cost platforms based on the Transferable Belief Model
Кринкин К. В., Huletski A., Kartashov D., , in: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.: [б.и.], 2017. P. 6770–6776.
— A truly autonomous mobile robot have to solve the SLAM problem (i.e. simultaneous map building and pose estimation) in order to navigate in an unknown environment. Unfortunately, a universal solution for the problem hasn’t been proposed yet. The tinySLAM algorithm that has a compact and clear code was designed to solve SLAM in an ...
Added: February 4, 2019
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
[б.и.], 2017.
Added: February 4, 2019
2D SLAM Quality Evaluation Methods
Filatov A., Filatov A., Кринкин К. В. et al., , in: Proceedings of the 21st Conference of Open Innovations Association FRUCT, University of Helsinki, Helsinki, Finland.: [б.и.], 2017. P. 120–126.
—SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem requires prior knowledge about advantages and disadvantages of each algorithm. This paper presents the approach for comparison ...
Added: February 4, 2019
Original Loop-closure Detection Algorithm for Monocular vSLAM
Bokovoy A., Yakovlev K., , in: Analysis of Images, Social Networks and Texts. 6th International Conference, 2017, Revised Selected PapersVol. 10716.: Cham: Springer, 2018. P. 210–220.
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure ...
Added: September 28, 2018
Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments
Yakovlev K., Khithov V., Loginov M. et al., , in: Intelligent Systems'2014 - Proceedings of the 7th IEEE International Conference Intelligent Systems IS'2014, September 24-26, 2014, Warsaw, Poland, Volume 2: Tools, Architectures, Systems, ApplicationsТ. 323.: Springer, 2015. P. 49–56.
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation ...
Added: April 27, 2015
Verification of MCU-Based Systems Software on an SDVRP Platform
Shershakov S., , in: Proceedings of the International Conference on Electrical and Computer Systems ICECS'12.: Ottawa: International ASET Inc, 2012. P. 207-1–207-8.
The SLAM-based Static Driver Verifier Research Platform (SDVRP), as a tool that systematically analyzes source code and allows writing custom SLIC rules for various platforms, provided a potent verification mechanism for an embedded software system based on ARM Cortex-M0 microprocessor. The correctness of this software is of particular importance in the sense that there are ...
Added: March 14, 2013
An SDVRP Platform Verification Method for Microprocessor-Based Systems Software
Sergey Shershakov, Irina Lomazova, , in: Proceedings of the 6th Spring/Summer Young Researchers’ Colloquium on Software Engineering, SYRCoSE 2012.: Perm: -, 2012. P. 79–84.
The correctness of embedded systems software is of critical importance as invalid states can cause a physical damage to hardware. One of approaches to verification of such systems is using source code analyzers. The Static Driver Verifier Research Platform (SDVRP), which is based on Simultaneous Localization and Mapping (SLAM) and represents a tool that systematically ...
Added: March 14, 2013
  • About
  • About
  • Key Figures & Facts
  • Sustainability at HSE University
  • Faculties & Departments
  • International Partnerships
  • Faculty & Staff
  • HSE Buildings
  • HSE University for Persons with Disabilities
  • Public Enquiries
  • Studies
  • Admissions
  • Programme Catalogue
  • Undergraduate
  • Graduate
  • Exchange Programmes
  • Summer University
  • Summer Schools
  • Semester in Moscow
  • Business Internship
  • Research
  • International Laboratories
  • Research Centres
  • Research Projects
  • Monitoring Studies
  • Conferences & Seminars
  • Academic Jobs
  • Yasin (April) International Academic Conference on Economic and Social Development
  • Media & Resources
  • Publications by staff
  • HSE Journals
  • Publishing House
  • iq.hse.ru: commentary by HSE experts
  • Library
  • Economic & Social Data Archive
  • Video
  • HSE Repository of Socio-Economic Information
  • HSE1993–2026
  • Contacts
  • Copyright
  • Privacy Policy
  • Site Map
Edit