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Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
Vision Transformers (ViTs) have shown success across a variety of tasks due to their ability to capture global image representations. Recent studies have identified the existence of high-norm tokens in ViTs, which can interfere with…
The article presents a general concept of the organization of pseudo three dimension visualization of graphics and video content for three dimension visualization systems. The steps of algorithms for solving the problem of synthesis of…
Accurate estimation of stereo camera extrinsic parameters is the key to guarantee the performance of stereo matching algorithms. In prior arts, the online self-calibration of stereo cameras has commonly been formulated as a specialized…
Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…
We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…
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…
We study a crucial yet often overlooked issue inherent to Vision Transformers (ViTs): feature maps of these models exhibit grid-like artifacts, which hurt the performance of ViTs in downstream dense prediction tasks such as semantic…
Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…
To enhance localization accuracy in urban environments, an innovative LiDAR-Visual-Inertial odometry, named HDA-LVIO, is proposed by employing hybrid data association. The proposed HDA_LVIO system can be divided into two subsystems: the…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…
Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and…
Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…
Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge…
Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…
Semantic segmentation and stereo matching, respectively analogous to the ventral and dorsal streams in our human brain, are two key components of autonomous driving perception systems. Addressing these two tasks with separate networks is no…