Related papers: SRVIO: Super Robust Visual Inertial Odometry for d…
Visual Odometry (VO) and Visual SLAM (V-SLAM) systems often struggle in low-light and dark environments due to the lack of robust visual features. In this paper, we propose a novel active illumination framework to enhance the performance of…
Combining Global Navigation Satellite System (GNSS) with visual and inertial sensors can give smooth pose estimation without drifting. The fusion system gradually degrades to Visual-Inertial Odometry (VIO) with the number of satellites…
In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…
The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or event cameras, inspired by biological vision, offer a…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…
A novel learning-optimization-combined 4D radar odometry model, named DNOI-4DRO, is proposed in this paper. The proposed model seamlessly integrates traditional geometric optimization with end-to-end neural network training, leveraging an…
In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…
Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most Visual Odometry (VO) algorithms rely on the usage of geometric features such as points, lines and…
Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many methods have been proposed to deal with this problem; however, the…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…
Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…
Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels that cannot adapt to unknown moving objects, leading to…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Spiking Neural Networks (SNNs) aim at providing energy-efficient learning capabilities when implemented on neuromorphic chips with event-based Dynamic Vision Sensors (DVS). This paper studies the robustness of SNNs against adversarial…
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…
Deep neural networks (DNNs) typically have enough capacity to fit random data by brute force even when conventional data-dependent regularizations focusing on the geometry of the features are imposed. We find out that the reason for this is…