Related papers: CFORB: Circular FREAK-ORB Visual Odometry
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…
Masking By Moving (MByM), provides robust and accurate radar odometry measurements through an exhaustive correlative search across discretised pose candidates. However, this dense search creates a significant computational bottleneck which…
We introduce Stanford-ORB, a new real-world 3D Object inverse Rendering Benchmark. Recent advances in inverse rendering have enabled a wide range of real-world applications in 3D content generation, moving rapidly from research and…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…
This article describes the method CFEAR Radar odometry, submitted to a competition at the Radar in Robotics workshop, ICRA 20241. CFEAR is an efficient and accurate method for spinning 2D radar odometry that generalizes well across…
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great interest to the robotics community. This paper develops a novel…
Multi-view geometry-based methods dominate the last few decades in monocular Visual Odometry for their superior performance, while they have been vulnerable to dynamic and low-texture scenes. More importantly, monocular methods suffer from…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
Indirect methods for visual SLAM are gaining popularity due to their robustness to environmental variations. ORB-SLAM2 \cite{orbslam2} is a benchmark method in this domain, however, it consumes significant time for computing descriptors…
Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer from mutual interference, which degrades the performance of…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
Identifying objects in given data is a task frequently encountered in many applications. Finding vehicles or persons in video data, tracking seismic waves in geophysical exploration data, or predicting a storm front movement from…
In this paper, we are presenting a rotation variant Oriented Texture Curve (OTC) descriptor based mean shift algorithm for tracking an object in an unstructured crowd scene. The proposed algorithm works by first obtaining the OTC features…
In this paper, we present the novel task of estimating the extrinsic parameters of a virtual camera relative to a real camera in exercise videos with a mirror. This task poses a significant challenge in scenarios where the views from the…
The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…