Related papers: MSC-VO: Exploiting Manhattan and Structural Constr…
This paper considers a new bi-objective optimization formulation for robust RGB-D visual odometry. We investigate two methods for solving the proposed bi-objective optimization problem: the weighted sum method (in which the objective…
We introduce visual hints expansion for guiding stereo matching to improve generalization. Our work is motivated by the robustness of Visual Inertial Odometry (VIO) in computer vision and robotics, where a sparse and unevenly distributed…
In real-world applications of image recognition tasks, such as human pose estimation, cameras often capture objects, like human bodies, at low resolutions. This scenario poses a challenge in extracting and leveraging multi-scale features,…
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…
Autonomous systems, such as self-driving cars, rely on reliable semantic environment perception for decision making. Despite great advances in video semantic segmentation, existing approaches ignore important inductive biases and lack…
Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Nevertheless, not so many…
We propose novel randomized geometric tools to detect low-volatility anomalies in stock markets; a principal problem in financial economics. Our modeling of the (detection) problem results in sampling and estimating the (relative) volume of…
Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…
This work proposes a novel deep network architecture to solve the camera Ego-Motion estimation problem. A motion estimation network generally learns features similar to Optical Flow (OF) fields starting from sequences of images. This OF can…
With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…
A minimum Manhattan distance (MMD) approach to multiple criteria decision making in multiobjective optimization problems (MOPs) is proposed. The approach selects the final solution corresponding with a vector that has the MMD from a…
Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…
Visual SLAM approaches typically depend on loop closure detection to correct the inconsistencies that may arise during the map and camera trajectory calculations, typically making use of point features for detecting and closing the existing…
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…
This paper presents a new technique for the virtual reality (VR) visu-alization of complex volume images obtained from computer tomography (CT) and Magnetic Resonance Imaging (MRI) by combining three-dimensional (3D) mesh processing and…
In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…
Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with…
In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…
There has recently been great interest in neural rendering methods. Some approaches use 3D geometry reconstructed with Multi-View Stereo (MVS) but cannot recover from the errors of this process, while others directly learn a volumetric…
Our aim is to estimate the perspective-effected geometric distortion of a scene from a video feed. In contrast to all previous work we wish to achieve this using from low-level, spatio-temporally local motion features used in commercial…