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The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…

Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learning-integrated odometry framework that fuses underwater image…

This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…

Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…

Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…

Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…

Lines provide the significantly richer geometric structural information about the environment than points, so lines are widely used in recent Visual Odometry (VO) works. Since VO with lines use line tracking results to locate and map, line…

Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO performance by including a dynamics model in the estimation…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…

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…

A key task in embedded vision is visual odometry (VO), which estimates camera motion from visual sensors, and it is a core component in many embedded power-constrained systems, from autonomous robots to augmented and virtual reality…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

Video Frame Interpolation (VFI) aims to synthesize intermediate frames between existing frames to enhance visual smoothness and quality. Beyond the conventional methods based on the reconstruction loss, recent works have employed generative…

Video object segmentation (VOS) -- predicting pixel-level regions for objects within each frame of a video -- is particularly challenging in agricultural scenarios, where videos of crops include hundreds of small, dense, and occluded…

State-of-the-art neural network models estimate large displacement optical flow in multi-resolution and use warping to propagate the estimation between two resolutions. Despite their impressive results, it is known that there are two…

Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to…

Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV…

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…

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…