Related papers: UnDeepVO: Monocular Visual Odometry through Unsupe…
We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…
Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…
Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…
We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses…
Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…
Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In…
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…
Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…
Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with…
We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation…
At present, deep learning has been applied more and more in monocular image depth estimation and has shown promising results. The current more ideal method for monocular depth estimation is the supervised learning based on ground truth…
Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…
Gastroendoscopy has been a clinical standard for diagnosing and treating conditions that affect a part of a patient's digestive system, such as the stomach. Despite the fact that gastroendoscopy has a lot of advantages for patients, there…
Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…
The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…
This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…
Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…
Self-supervised monocular depth estimation serves as a key task in the development of endoscopic navigation systems. However, performance degradation persists due to uneven illumination inherent in endoscopic images, particularly in…
A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…