Related papers: Extending Deep Event Visual Odometry with Sparse P…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
Event cameras are sensors inspired by biological systems that specialize in capturing changes in brightness. These emerging cameras offer many advantages over conventional frame-based cameras, including high dynamic range, high frame rates,…
Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…
In the last few years, deep neural networks opened the doors for big advances in novel view synthesis. Many of these approaches are based on a (coarse) proxy geometry obtained by structure from motion algorithms. Small deficiencies in this…
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…
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…
Designing an efficient yet deployment-friendly 3D backbone to handle sparse point clouds is a fundamental problem in 3D perception. Compared with the customized sparse convolution, the attention mechanism in Transformers is more appropriate…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Modern optical flow methods make use of salient scene feature points detected and matched within the scene as a basis for sparse-to-dense optical flow estimation. Current feature detectors however either give sparse, non uniform point…
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…
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…
This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential…
LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…
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-…
Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving…
Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image…
Human pose estimation focuses on predicting body keypoints to analyze human motion. Currently, most pose estimation tasks rely on conventional RGB cameras. In contrast, event cameras provide high temporal resolution and low latency,…
Unsupervised Learning based monocular visual odometry (VO) has lately drawn significant attention for its potential in label-free leaning ability and robustness to camera parameters and environmental variations. However, partially due to…