Related papers: Optimizing the extended Fourier Mellin Transformat…
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:…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Semi-supervised video object segmentation (VOS) aims to segment a few moving objects in a video sequence, where these objects are specified by annotation of first frame. The optical flow has been considered in many existing semi-supervised…
Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…
Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…
With the advent of large pre-trained transformer models, fine-tuning these models for various downstream tasks is a critical problem. Paucity of training data, the existence of data silos, and stringent privacy constraints exacerbate this…
In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
The Fast Fourier Transform (FFT) is one of the most widely used algorithms in high performance computing, with critical applications in spectral analysis for both signal processing and the numerical solution of partial differential…
Course estimation is a key component for the development of autonomous navigation systems for robots. While state-of-the-art methods widely use visual-based algorithms, it is worth noting that they all fail to deal with the complexity of…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
Facial expression recognition (FER) is a challenging topic in artificial intelligence. Recently, many researchers have attempted to introduce Vision Transformer (ViT) to the FER task. However, ViT cannot fully utilize emotional features…
Masking By Moving (MByM), provides robust and accurate radar odometry measurements through an exhaustive correlative search across discretised pose candidates. However, this dense search creates a significant computational bottleneck which…
In this contribution we generalize the classical Fourier Mellin transform [S. Dorrode and F. Ghorbel, Robust and efficient Fourier-Mellin transform approximations for gray-level image reconstruction and complete invariant description,…
Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…
Visual Odometry (VO) is one of the fundamental tasks in computer vision for robotics. However, its performance is deeply affected by High Dynamic Range (HDR) scenes, omnipresent outdoor. While new Automatic-Exposure (AE) approaches to…
Many phenomena of interest in nature and industry occur rapidly and are difficult and cost-prohibitive to visualize properly without specialized cameras. Here we describe in detail the Virtual Frame Technique (VFT), a simple, useful, and…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…