Related papers: Accurate and Robust Scale Recovery for Monocular V…
Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…
We study nonconvex optimization for phase retrieval and the more general problem of semidefinite low-rank matrix sensing; in particular, we focus on the global nonconvex landscape of overparametrized versions of the nonsmooth amplitude…
Aerosol Optical Depth (AOD) retrieval is essential for Earth observation, supporting applications from air quality monitoring to climate studies. Conventional physics-based AOD retrieval methods formulate the problem as a pixel-wise…
We investigate the problem of recovering a partially observed high-rank matrix whose columns obey a nonlinear structure such as a union of subspaces, an algebraic variety or grouped in clusters. The recovery problem is formulated as the…
Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…
The proliferation of commercial egocentric devices offers a unique lens into human behavior, yet reconstructing full-body 3D motion remains difficult due to frequent self-occlusion and the 'out-of-sight' nature of the wearer's limbs. While…
We consider the problem of reconstructing a low-rank matrix from a small subset of its entries. In this paper, we describe the implementation of an efficient algorithm called OptSpace, based on singular value decomposition followed by local…
Vertical beam dropout in spinning LiDAR sensors triggered by hardware aging, dust, snow, fog, or bright reflections removes entire vertical slices from the point cloud and severely degrades 3D perception in autonomous vehicles. This paper…
While monocular depth estimation (MDE) is an important problem in computer vision, it is difficult due to the ambiguity that results from the compression of a 3D scene into only 2 dimensions. It is common practice in the field to treat it…
Methods for 3D reconstruction from posed frames require prior knowledge about the scene metric range, usually to recover matching cues along the epipolar lines and narrow the search range. However, such prior might not be directly available…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…
Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…
In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…
Monocular depth estimation is an essential task in the computer vision community. While tremendous successful methods have obtained excellent results, most of them are computationally expensive and not applicable for real-time on-device…
3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…