相关论文: A Novel Georeferenced Dataset for Stereo Visual Od…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than…

The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

Advances in computer vision, particularly in optical image-based 3D reconstruction and feature matching, enable applications like marker-less surgical navigation and digitization of surgery. However, their development is hindered by a lack…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

Monocular visual odometry approaches that purely rely on geometric cues are prone to scale drift and require sufficient motion parallax in successive frames for motion estimation and 3D reconstruction. In this paper, we propose to leverage…

As automated vehicles are getting closer to becoming a reality, it will become mandatory to be able to characterise the performance of their obstacle detection systems. This validation process requires large amounts of ground-truth data,…

Multi-spectral sensors consisting of a standard (visible-light) camera and a long-wave infrared camera can simultaneously provide both visible and thermal images. Since thermal images are independent from environmental illumination, they…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…

Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…

The lack of realistic and open benchmarking datasets for pedestrian visual-inertial odometry has made it hard to pinpoint differences in published methods. Existing datasets either lack a full six degree-of-freedom ground-truth or are…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…

Recently, there are emerging many stereo matching methods for autonomous driving based on unsupervised learning. Most of them take advantage of reconstruction losses to remove dependency on disparity groundtruth. Occlusion handling is a…

In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…

As a part of the perception results of intelligent driving systems, static object detection (SOD) in 3D space provides crucial cues for driving environment understanding. With the rapid deployment of deep neural networks for SOD tasks, the…

It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…

Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs). However,…