Related papers: OSPC: Online Sequential Photometric Calibration
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
Optical coherence tomography (OCT) is a non-invasive, micrometer-scale imaging modality that has become a clinical standard in ophthalmology. By raster-scanning the retina, sequential cross-sectional image slices are acquired to generate…
Feature matching is a fundamental and crucial process in visual SLAM, and precision has always been a challenging issue in feature matching. In this paper, based on a multi-level fine matching strategy, we propose a new feature matching…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
Optical flow estimation is one of the fundamental tasks in low-level computer vision, which describes the pixel-wise displacement and can be used in many other tasks. From the apparent aspect, the optical flow can be viewed as the…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
Feature descriptors, such as SIFT and ORB, are well-known for their robustness to illumination changes, which has made them popular for feature-based VSLAM\@. However, in degraded imaging conditions such as low light, low texture, blur and…
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…
Over the last decade, one of the most relevant public datasets for evaluating odometry accuracy is the KITTI dataset. Beside the quality and rich sensor setup, its success is also due to the online evaluation tool, which enables researchers…
We report an algorithm, based on quantum optics formulation, where a coherent state is used as the elementary quantum resource for the image representation. We provide an architecture with constituent optical elements in linear order with…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Image matching is a fundamental problem in Computer Vision with direct applications in robotics, remote sensing, and geospatial data analysis. We present an analytical and experimental evaluation of classical local feature-based image…
Test-time prompt tuning for vision-language models (VLMs) is getting attention because of their ability to learn with unlabeled data without fine-tuning. Although test-time prompt tuning methods for VLMs can boost accuracy, the resulting…
We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…
We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences. In contrast to traditional bundle adjustment (BA) where the optimal…
Optical see-through head-mounted displays (OST HMDs) are a major output medium for Augmented Reality, which have seen significant growth in popularity and usage among the general public due to the growing release of consumer-oriented…
While simulation tools for visible light communication (VLC) with photo detectors (PDs) have been widely investigated, similar tools for optical camera communication (OCC) with complementary metal oxide semiconductor (CMOS) sensors are…