Related papers: Vision-Based Navigation III: Pose and Motion from …
We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…
Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…
The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation…
Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…
Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…
In the absence of a mechanical stabilizer, the camera undergoes inevitable rotational dynamics during capturing, which induces perspective-based blur especially under long-exposure scenarios. From an optical standpoint, perspective-based…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Optical motion capture systems have become a widely used technology in various fields, such as augmented reality, robotics, movie production, etc. Such systems use a large number of cameras to triangulate the position of optical markers.The…
Research on monocular 3D object detection is being actively studied, and as a result, performance has been steadily improving. However, 3D object detection performance is significantly reduced when applied to a camera system different from…
Conventional cell tracking methods detect multiple cells in each frame (detection) and then associate the detection results in successive time-frames (association). Most cell tracking methods perform the association task independently from…
Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…
Vehicle overtaking is one of the most complex driving maneuvers for autonomous vehicles. To achieve optimal autonomous overtaking, driving systems rely on multiple sensors that enable safe trajectory optimization and overtaking efficiency.…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
360{\deg} omnidirectional images have gained research attention due to their immersive and interactive experience, particularly in AR/VR applications. However, they suffer from lower angular resolution due to being captured by fisheye…
This paper presents a novel method for detecting scene changes from a pair of images with a difference of camera viewpoints using a dense optical flow based change detection network. In the case that camera poses of input images are fixed…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved faster, more robust and accurate than feature based methods on image registration. However, iFMI is restricted to work only when the camera moves in…