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

A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

Stereo matching is an important problem in computer vision which has drawn tremendous research attention for decades. Recent years, data-driven methods with convolutional neural networks (CNNs) are continuously pushing stereo matching to…

Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…

Stereo matching plays a crucial role in enabling depth perception for autonomous driving and robotics. While recent years have witnessed remarkable progress in stereo matching algorithms, largely driven by learning-based methods and…

We present SetDiff, a geometry-grounded multi-view diffusion framework that enhances novel-view renderings produced by 3D Gaussian Splatting. Our method integrates explicit 3D priors, pixel-aligned coordinate maps and pose-aware Plucker ray…

Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

Stereo depth estimation relies on optimal correspondence matching between pixels on epipolar lines in the left and right images to infer depth. In this work, we revisit the problem from a sequence-to-sequence correspondence perspective to…

Self-supervised monocular depth estimation has become an appealing solution to the lack of ground truth labels, but its reconstruction loss often produces over-smoothed results across object boundaries and is incapable of handling occlusion…

We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

Modern cameras are equipped with a wide array of sensors that enable recording the geospatial context of an image. Taking advantage of this, we explore depth estimation under the assumption that the camera is geocalibrated, a problem we…

Robust perception is critical for autonomous driving, especially under adverse weather and lighting conditions that commonly occur in real-world environments. In this paper, we introduce the Stereo Image Dataset (SID), a large-scale…

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…