Related papers: Selective Sensor Fusion for Neural Visual-Inertial…
Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic…
Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (DOF) state estimation. However, the lack of direct distance…
With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and…
Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…
We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…
Monocular depth estimation is a challenging problem on which deep neural networks have demonstrated great potential. However, depth maps predicted by existing deep models usually lack fine-grained details due to the convolution operations…
Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…
The development and implementation of visual-inertial odometry (VIO) has focused on structured environments, but interest in localization in off-road environments is growing. In this paper, we present the RELLIS Off-road Odometry Analysis…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Infrared and visible image fusion (IVIF) is increasingly applied in critical fields such as video surveillance and autonomous driving systems. Significant progress has been made in deep learning-based fusion methods. However, these models…
The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map…
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…
This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…
Although autonomous vehicles (AVs) are expected to revolutionize transportation, robust perception across a wide range of driving contexts remains a significant challenge. Techniques to fuse sensor data from camera, radar, and lidar sensors…
Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…
Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
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…