Related papers: CFORB: Circular FREAK-ORB Visual Odometry
With the rapid development of spaceborne imaging techniques, object detection in optical remote sensing imagery has drawn much attention in recent decades. While many advanced works have been developed with powerful learning algorithms, the…
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…
Sparse Filtering is a popular feature learning algorithm for image classification pipelines. In this paper, we connect the performance of Sparse Filtering with spectral properties of the corresponding feature matrices. This connection…
The inverse source problem arising in photoacoustic tomography and in several other coupled-physics modalities is frequently solved by iterative algorithms. Such algorithms are based on the minimization of a certain cost functional. In…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
Cross-domain few-shot object detection (CD-FSOD) aims to detect novel objects across different domains with limited class instances. Feature confusion, including object-background confusion and object-object confusion, presents significant…
We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…
The data loss caused by unreliable network seriously impacts the results of remote visual SLAM systems. From our experiment, a loss of less than 1 second of data can cause a visual SLAM algorithm to lose tracking. We present a novel…
A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…
We have developed a new three-dimensional algorithm, based on the standard P$^3$M method, for computing deflections due to weak gravitational lensing. We compare the results of this method with those of the two-dimensional planar approach,…
Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we…
Multi-beam LiDAR sensors are increasingly used in robotics, particularly with autonomous cars for localization and perception tasks, both relying on the ability to build a precise map of the environment. For this, we propose a new real-time…
Simultaneous Localization and Mapping (SLAM) in large-scale, complex, and GPS-denied underground coal mine environments presents significant challenges. Sensors must contend with abnormal operating conditions: GPS unavailability impedes…
We present a new wrapper feature selection algorithm for human detection. This algorithm is a hybrid feature selection approach combining the benefits of filter and wrapper methods. It allows the selection of an optimal feature vector that…
Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…
Image matching is a fundamental problem in Computer Vision with direct applications in robotics, remote sensing, and geospatial data analysis. We present an analytical and experimental evaluation of classical local feature-based image…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…
In the literature, several studies have shown that state-of-the-art image similarity metrics are not perceptual metrics; moreover, they have difficulty evaluating images, especially when texture distortion is also present. In this work, we…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…