Related papers: Multi-object Monocular SLAM for Dynamic Environmen…
Tracking 3D human motion from egocentric multi-camera headset is challenged by severe egomotion, partial visibility or occlusions and lack of training data. Existing methods designed for monocular video often require static or slowly-moving…
Identifying and segmenting moving objects from a moving monocular camera is difficult when there is unknown camera motion, different types of object motions and complex scene structures. To tackle these challenges, we take advantage of two…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…
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…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…
The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…
Accurate 3D human pose estimation from single images is possible with sophisticated deep-net architectures that have been trained on very large datasets. However, this still leaves open the problem of capturing motions for which no such…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, \ie{the static world assumption for simultaneous…
Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
In this paper, we propose a pipeline for multi-target visual tracking under multi-camera system. For multi-camera system tracking problem, efficient data association across cameras, and at the same time, across frames becomes more important…
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…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
We propose a new methodology to estimate the 3D displacement field of deformable objects from video sequences using standard monocular cameras. We solve in real time the complete (possibly visco-)hyperelasticity problem to properly describe…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…