Related papers: Bi-objective Optimization for Robust RGB-D Visual …

This paper contains the performance analysis and benchmarking of two popular visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The dataset…

RGB-T salient object detection (SOD) aims to segment attractive objects by combining RGB and thermal infrared images. To enhance performance, the Segment Anything Model has been fine-tuned for this task. However, the imbalance convergence…

For many applications in signal processing and machine learning, we are tasked with minimizing a large sum of convex functions subject to a large number of convex constraints. In this paper, we devise a new random projection method (RPM) to…

Estimating optical flows is one of the most interesting problems in computer vision, which estimates the essential information about pixel-wise displacements between two consecutive images. This work introduces an efficient dual…

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

Feature descriptors, such as SIFT and ORB, are well-known for their robustness to illumination changes, which has made them popular for feature-based VSLAM\@. However, in degraded imaging conditions such as low light, low texture, blur and…

Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…

Geometric programming is an important class of optimization problems that enable practitioners to model a large variety of real-world applications, mostly in the field of engineering design. In many real life optimization problem…

Visual odometry and SLAM methods have a large variety of applications in domains such as augmented reality or robotics. Complementing vision sensors with inertial measurements tremendously improves tracking accuracy and robustness, and thus…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

Many approaches have been proposed for human pose estimation in single and multi-view RGB images. However, some environments, such as the operating room, are still very challenging for state-of-the-art RGB methods. In this paper, we propose…

Learning depth and camera ego-motion from raw unlabeled RGB video streams is seeing exciting progress through self-supervision from strong geometric cues. To leverage not only appearance but also scene geometry, we propose a novel…

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR…

We introduce MIPS-Fusion, a robust and scalable online RGB-D reconstruction method based on a novel neural implicit representation -- multi-implicit-submap. Different from existing neural RGB-D reconstruction methods lacking either…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…