Related papers: Salient Sparse Visual Odometry With Pose-Only Supe…
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…
The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…
Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…
This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The…
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
Fully supervised salient object detection (SOD) methods have made considerable progress in performance, yet these models rely heavily on expensive pixel-wise labels. Recently, to achieve a trade-off between labeling burden and performance,…
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,…
The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…
Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…
This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
Visual Odometry (VO) and Visual SLAM (V-SLAM) systems often struggle in low-light and dark environments due to the lack of robust visual features. In this paper, we propose a novel active illumination framework to enhance the performance of…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
Fully-supervised salient object detection (SOD) methods have made great progress, but such methods often rely on a large number of pixel-level annotations, which are time-consuming and labour-intensive. In this paper, we focus on a new…
Video salient object detection models trained on pixel-wise dense annotation have achieved excellent performance, yet obtaining pixel-by-pixel annotated datasets is laborious. Several works attempt to use scribble annotations to mitigate…
In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth maps of the immediate surroundings. Leveraging the proposed…
The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map…