Related papers: Exploiting Structure-from-Motion for Robust Vision…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame,…
This paper introduces a network architecture to solve the structure-from-motion (SfM) problem via feature-metric bundle adjustment (BA), which explicitly enforces multi-view geometry constraints in the form of feature-metric error. The…
Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…
This paper presents a spline-based parameterisation framework for plane graphs. The plane graph is characterised by a collection of curves forming closed loops that fence-off planar faces which have to be parameterised individually. Hereby,…
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
Efficient and accurate camera pose estimation forms the foundational requirement for dense reconstruction in autonomous navigation, robotic perception, and virtual simulation systems. This paper addresses the challenge via cuSfM, a…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…
While the common environment representation in structure from motion is given by a sparse point cloud, the community has also investigated the use of lines to better enforce the inherent regularities in man-made surroundings. Following the…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
This work introduces VISY-REVE: a novel pipeline to validate image processing algorithms for Vision-Based Navigation. Traditional validation methods such as synthetic rendering or robotic testbed acquisition suffer from difficult setup and…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
In this paper we tackle the problem of learning Structure-from-Motion (SfM) through the use of graph attention networks. SfM is a classic computer vision problem that is solved though iterative minimization of reprojection errors, referred…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
With the development of cheap image sensors, the amount of available image data have increased enormously, and the possibility of using crowdsourced collection methods has emerged. This calls for development of ways to handle all these…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…