Related papers: Evolution of Visual Odometry Techniques
Visual motion estimation is a computationally intensive, but important task for sighted animals. Replicating the robustness and efficiency of biological visual motion estimation in artificial systems would significantly enhance the…
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…
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…
Recently, virtual reality, augmented reality, robotics, autonomous driving et al attract much attention of both academic and industrial community, in which image based camera localization is a key task. However, there has not been a…
SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…
6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Humans can easily segment moving objects without knowing what they are. That objectness could emerge from continuous visual observations motivates us to model grouping and movement concurrently from unlabeled videos. Our premise is that a…
The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…
Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…
Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…
Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…
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…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Deep learning based localization and mapping approaches have recently emerged as a new research direction and receive significant attentions from both industry and academia. Instead of creating hand-designed algorithms based on physical…
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…
Human pose estimation in images and videos is one of key technologies for realizing a variety of human activity recognition tasks (e.g., human-computer interaction, gesture recognition, surveillance, and video summarization). This paper…
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…
Over the last decade, computer science has made progress towards extracting body pose from single camera photographs or videos. This promises to enable movement science to detect disease, quantify movement performance, and take the science…
Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…