Related papers: Direct Sparse Odometry
We have developed a new technique called Direct Shear Mapping (DSM) to measure gravitational lensing shear directly from observations of a single background source. The technique assumes the velocity map of an un-lensed, stably-rotating…
This paper presents an adaptive and intelligent sparse model for digital image sampling and recovery. In the proposed sampler, we adaptively determine the number of required samples for retrieving image based on space-frequency-gradient…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
In this article, we propose a new dimensionality-independent and gradient-free sampler, called Geometric Optics Approximation Sampling, which is based on the reflector antenna system. The core idea is to construct a reflecting surface that…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Surface reconstruction from sparse views aims to reconstruct a 3D shape or scene from few RGB images. The latest methods are either generalization-based or overfitting-based. However, the generalization-based methods do not generalize well…
Motion estimation is a fundamental step in dynamic medical image processing for the assessment of target organ anatomy and function. However, existing image-based motion estimation methods, which optimize the motion field by evaluating the…
Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its…
In this paper, we present a new image segmentation method based on the concept of sparse subset selection. Starting with an over-segmentation, we adopt local spectral histogram features to encode the visual information of the small segments…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Recent advances in implicit neural representations and differentiable rendering make it possible to simultaneously recover the geometry and materials of an object from multi-view RGB images captured under unknown static illumination.…
Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…
We describe a technique that automatically generates plausible depth maps from videos using non-parametric depth sampling. We demonstrate our technique in cases where past methods fail (non-translating cameras and dynamic scenes). Our…
This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry that builds on the recently developed continuous sensor…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
Digital camera pixels measure image intensities by converting incident light energy into an analog electrical current, and then digitizing it into a fixed-width binary representation. This direct measurement method, while conceptually…
In this paper, we present the Directly Denoising Diffusion Model (DDDM): a simple and generic approach for generating realistic images with few-step sampling, while multistep sampling is still preserved for better performance. DDDMs require…
This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…
In this paper, we propose a novel sparse learning based feature selection method that directly optimizes a large margin linear classification model sparsity with l_(2,p)-norm (0 < p < 1)subject to data-fitting constraints, rather than using…
Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…