Related papers: Position Estimation of Camera Based on Unsupervise…

We present a new self-supervised approach, SelfPose3d, for estimating 3d poses of multiple persons from multiple camera views. Unlike current state-of-the-art fully-supervised methods, our approach does not require any 2d or 3d ground-truth…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

3D human pose estimation involves reconstructing the human skeleton by detecting the body joints. Accurate and efficient solutions are required for several real-world applications including animation, human-robot interaction, surveillance,…

We propose an unsupervised deep learning based method to estimate depth from focal stack camera images. On the NYU-v2 dataset, our method achieves much better depth estimation accuracy compared to single-image based methods.

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…

Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…

Obtaining accurate depth measurements out of a single image represents a fascinating solution to 3D sensing. CNNs led to considerable improvements in this field, and recent trends replaced the need for ground-truth labels with…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…

Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

Finding the camera pose is an important step in many egocentric video applications. It has been widely reported that, state of the art SLAM algorithms fail on egocentric videos. In this paper, we propose a robust method for camera pose…

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…

In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in…