Related papers: LEAP-VO: Long-term Effective Any Point Tracking fo…
Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…
Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…
Existing unsupervised visual odometry (VO) methods either match pairwise images or integrate the temporal information using recurrent neural networks over a long sequence of images. They are either not accurate, time-consuming in training…
Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…
Tracking any point based on image frames is constrained by frame rates, leading to instability in high-speed scenarios and limited generalization in real-world applications. To overcome these limitations, we propose an image-event fusion…
Visual odometry aims to track the incremental motion of an object using the information captured by visual sensors. In this work, we study the point cloud odometry problem, where only the point cloud scans obtained by the LiDAR (Light…
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…
Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…
Humans excel at constructing panoramic mental models of their surroundings, maintaining object permanence and inferring scene structure beyond visible regions. In contrast, current artificial vision systems struggle with persistent,…
We present a novel model for Tracking Any Point (TAP) that effectively tracks any queried point on any physical surface throughout a video sequence. Our approach employs two stages: (1) a matching stage, which independently locates a…
Visual motion estimation is an integral and well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation, which is especially challenging in highly dynamic environments. Such environments not…
We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…
Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
Video-based human pose estimation models aim to address scenarios that cannot be effectively solved by static image models such as motion blur, out-of-focus and occlusion. Most existing approaches consist of two stages: detecting human…
Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
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…
Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…