Related papers: Learning to Anchor Visual Odometry: KAN-Based Pose…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

The Convolutional Neural Networks (CNNs) have been the dominant and effective approach for general computer vision tasks. Recently, Kolmogorov-Arnold neural networks (KANs), based on the Kolmogorov-Arnold representation theorem, have shown…

Kolmogorov-Arnold Networks (KANs) replace scalar weights with per-edge vectors of basis coefficients, thereby increasing expressivity and accuracy while also resulting in a multiplicative increase in parameters and memory. We propose…

Pansharpening aims to fuse high-resolution spatial details from panchromatic images with the rich spectral information of multispectral images. Existing deep neural networks for this task typically rely on static activation functions, which…

This paper proposes a new framework to solve the problem of monocular visual odometry, called MagicVO . Based on Convolutional Neural Network (CNN) and Bi-directional LSTM (Bi-LSTM), MagicVO outputs a 6-DoF absolute-scale pose at each…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

Estimating the 6D pose of objects from a single RGB image is a critical task for robotics and extended reality applications. However, state-of-the-art multi stage methods often suffer from high latency, making them unsuitable for real time…

We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

Metric Cross-View Geo-Localization (MCVGL) aims to estimate the 3-DoF camera pose (position and heading) by matching ground and satellite images. In this work, instead of pinhole and satellite images, we study robust MCVGL using holistic…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…

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…

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…