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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…
Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…
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…
The monocular visual-inertial odometry (VIO) based on the direct method can leverage all available pixels in the image to simultaneously estimate the camera motion and reconstruct the denser map of the scene in real time. However, the…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…
In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…
Mobile robots rely on odometry to navigate through areas where localization fails. Visual odometry (VO) is a common solution for obtaining robust and consistent relative motion estimates of the vehicle frame. Contrarily, Global Positioning…
Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…
We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…
Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…
In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…
Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…
We present a self-supervised approach to ignoring "distractors" in camera images for the purposes of robustly estimating vehicle motion in cluttered urban environments. We leverage offline multi-session mapping approaches to automatically…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…
Salient object detection (SOD) aims to segment visually prominent regions in images and serves as a foundational task for various computer vision applications. We posit that SOD can now reach near-supervised accuracy without a single…
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…
Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learning-integrated odometry framework that fuses underwater image…
In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…