Related papers: Transformer-Based Model for Monocular Visual Odome…
Dynamic attention mechanism and global modeling ability make Transformer show strong feature learning ability. In recent years, Transformer has become comparable to CNNs methods in computer vision. This review mainly investigates the…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…
Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…
Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…
3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…
Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…
Estimating depth from single RGB images and videos is of widespread interest due to its applications in many areas, including autonomous driving, 3D reconstruction, digital entertainment, and robotics. More than 500 deep learning-based…
3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…
Estimation of the human pose from a monocular camera has been an emerging research topic in the computer vision community with many applications. Recently, benefited from the deep learning technologies, a significant amount of research…
Monocular depth estimation is an important step in many downstream tasks in machine vision. We address the topic of estimating monocular depth from defocus blur which can yield more accurate results than the semantic based depth estimation…
Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…
Accurately estimating 3D hand pose is crucial for understanding how humans interact with the world. Despite remarkable progress, existing methods often struggle to generate plausible hand poses when the hand is heavily occluded or blurred.…
Human performance capture is a highly important computer vision problem with many applications in movie production and virtual/augmented reality. Many previous performance capture approaches either required expensive multi-view setups or…
Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…
Breakthroughs in visual odometry (VO) have fundamentally reshaped the landscape of robotics, enabling ultra-precise camera state estimation that is crucial for modern autonomous systems. Despite these advances, many learning-based VO…
Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…
We present MVTOP, a novel transformer-based method for multi-view rigid object pose estimation. Through an early fusion of the view-specific features, our method can resolve pose ambiguities that would be impossible to solve with a single…
Video Instance Segmentation (VIS) jointly tackles multi-object detection, tracking, and segmentation in video sequences. In the past, VIS methods mirrored the fragmentation of these subtasks in their architectural design, hence missing out…