Related papers: Visual Odometry for RGB-D Cameras
We present a novel Visual Odometry algorithm entitled Circular FREAK-ORB (CFORB). This algorithm detects features using the well-known ORB algorithm [12] and computes feature descriptors using the FREAK algorithm [14]. CFORB is invariant to…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
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…
Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…
The paper deals with the error analysis of a navigation algorithm that uses as input a sequence of images acquired by a moving camera and a Digital Terrain Map (DTM) of the region been imaged by the camera during the motion. The main…
With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
Cameras and 2D laser scanners, in combination, are able to provide low-cost, light-weight and accurate solutions, which make their fusion well-suited for many robot navigation tasks. However, correct data fusion depends on precise…
Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…
A panoramic image mosaic is an attractive visualization for viewing many overlapping photos, but its images must be both captured and processed correctly to produce an acceptable composite. We propose Swipe Mosaics, an interactive…
Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Estimating camera motion in deformable scenes poses a complex and open research challenge. Most existing non-rigid structure from motion techniques assume to observe also static scene parts besides deforming scene parts in order to…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
This letter provides what is, to the best of our knowledge, a first study on the applicability of ultra-low-resolution thermal cameras for providing rotational odometry measurements to navigational devices such as rovers and drones. Our use…
Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…
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…