Related papers: Multi-Spectral Visual Odometry without Explicit St…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…
This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…
Spectral imaging enables the analysis of optical material properties that are invisible to the human eye. Different spectral capturing setups, e.g., based on filter-wheel, push-broom, line-scanning, or mosaic cameras, have been introduced…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
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…
Highly accurate 3D volumetric reconstruction is still an open research topic where the main difficulty is usually related to merging some rough estimations with high frequency details. One of the most promising methods is the fusion between…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…
Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
We propose a neural inverse rendering approach that jointly reconstructs geometry, spatially varying reflectance, and lighting conditions from multi-view images captured under varying directional lighting. Unlike prior multi-view…
A new model-based image adjustment for the enhancement of multi-resolution image fusion or pansharpening is proposed. Such image adjustment is needed for most pansharpening methods using panchromatic band and/or intensity image (calculated…
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
The accurate measurement of the wave field and its spatiotemporal evolution is essential in many hydrodynamic experiments and engineering applications. The binocular stereo imaging technique has been widely used to measure waves. However,…