Related papers: Pixel-Wise Prediction based Visual Odometry via Un…
In computer vision pixelwise dense prediction is the task of predicting a label for each pixel in the image. Convolutional neural networks achieve good performance on this task, while being computationally efficient. In this paper we carry…
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…
We compute the uncertainty of XIVO, a monocular visual-inertial odometry system based on the Extended Kalman Filter, in the presence of Gaussian noise, drift, and attribution errors in the feature tracks in addition to Gaussian noise and…
Recently, learning-based multi-view stereo methods have achieved promising results. However, they all overlook the visibility difference among different views, which leads to an indiscriminate multi-view similarity definition and greatly…
Guiding off-screen points of interest (POIs) is a practical way of providing additional information to users of small-screen devices, such as smart devices and head-mounted displays. Popular previous methods involve displaying a primitive…
This paper introduces a novel approach for image and video orientation estimation by leveraging depth distribution in natural images. The proposed method estimates the orientation based on the depth distribution across different quadrants…
Video Object Segmentation (VOS) is one of the most fundamental and challenging tasks in computer vision and has a wide range of applications. Most existing methods rely on spatiotemporal memory networks to extract frame-level features and…
In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…
We propose a dense indirect visual odometry method taking as input externally estimated optical flow fields instead of hand-crafted feature correspondences. We define our problem as a probabilistic model and develop a generalized-EM…
We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…
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…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth maps of the immediate surroundings. Leveraging the proposed…
Semantic segmentation models trained on known object classes often fail in real-world autonomous driving scenarios by confidently misclassifying unknown objects. While pixel-wise out-of-distribution detection can identify unknown objects,…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
Modern deep learning systems successfully solve many perception tasks such as object pose estimation when the input image is of high quality. However, in challenging imaging conditions such as on low-resolution images or when the image is…
Odometry on aerial robots has to be of low latency and high robustness whilst also respecting the Size, Weight, Area and Power (SWAP) constraints as demanded by the size of the robot. A combination of visual sensors coupled with Inertial…
Recent progress in deterministic prompt learning has become a promising alternative to various downstream vision tasks, enabling models to learn powerful visual representations with the help of pre-trained vision-language models. However,…
Visual odometry shows excellent performance in a wide range of environments. However, in visually-denied scenarios (e.g. heavy smoke or darkness), pose estimates degrade or even fail. Thermal cameras are commonly used for perception and…
In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of…