Related papers: MBA-VO: Motion Blur Aware Visual Odometry
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Large displacement optical flow is an integral part of many computer vision tasks. Variational optical flow techniques based on a coarse-to-fine scheme interpolate sparse matches and locally optimize an energy model conditioned on colour,…
We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement errors in a combined energy functional. The visual part of the…
Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image…
This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the…
Deep visual odometry, despite extensive research, still faces limitations in accuracy and generalizability that prevent its broader application. To address these challenges, we propose an Oriented FAST and Rotated BRIEF (ORB)-guided visual…
Most motion deblurring algorithms rely on spatial-domain convolution models, which struggle with the complex, non-linear blur arising from camera shake and object motion. In contrast, we propose a novel single-image deblurring approach that…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Most previous learning-based visual odometry (VO) methods take VO as a pure tracking problem. In contrast, we present a VO framework by incorporating two additional components called Memory and Refining. The Memory component preserves…
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…
Motion deblurring is a highly ill-posed problem due to the loss of motion information in the blur degradation process. Since event cameras can capture apparent motion with a high temporal resolution, several attempts have explored the…
Video deblurring is a highly under-constrained problem due to the spatially and temporally varying blur. An intuitive approach for video deblurring includes two steps: a) detecting the blurry region in the current frame; b) utilizing the…
Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective algorithm cannot be…
This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
The ability to record high-fidelity videos at high acquisition rates is central to the study of fast moving phenomena. The difficulty of imaging fast moving scenes lies in a trade-off between motion blur and underexposure noise: On the one…
Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…
In this paper we propose an edge-direct visual odometry algorithm that efficiently utilizes edge pixels to find the relative pose that minimizes the photometric error between images. Prior work on exploiting edge pixels instead treats edges…
Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…
Video deblurring is a challenging problem as the blur is complex and usually caused by the combination of camera shakes, object motions, and depth variations. Optical flow can be used for kernel estimation since it predicts motion…