相关论文: Modelling Uncertainty in Deep Learning for Camera …

Camera rotation estimation from a single image is a challenging task, often requiring depth data and/or camera intrinsics, which are generally not available for in-the-wild videos. Although external sensors such as inertial measurement…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

Edge learning refers to training machine learning models deployed on edge platforms, typically using new data accumulated onboard. The computational limitations on edge devices affect not only model optimisation, but also calculation of the…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving the place recognition problem with complex radar data. Our method is based on invariant instance feature learning but is tailored for…

Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

Visual localization is one of the most important components for robotics and autonomous driving. Recently, inspiring results have been shown with CNN-based methods which provide a direct formulation to end-to-end regress 6-DoF absolute…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

We introduce IFFNeRF to estimate the six degrees-of-freedom (6DoF) camera pose of a given image, building on the Neural Radiance Fields (NeRF) formulation. IFFNeRF is specifically designed to operate in real-time and eliminates the need for…

Augmented Reality has been subject to various integration efforts within industries due to its ability to enhance human machine interaction and understanding. Neural networks have achieved remarkable results in areas of computer vision,…

Event cameras offer distinct advantages over conventional frame-based sensors, including microsecond-level temporal resolution, high dynamic range, and low bandwidth. In this paper, we predict per-pixel depth distributions from monocular…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Deep unrolling is an emerging deep learning-based image reconstruction methodology that bridges the gap between model-based and purely deep learning-based image reconstruction methods. Although deep unrolling methods achieve…

The ability to perceive and understand 3D scenes is crucial for many applications in computer vision and robotics. Inverse graphics is an appealing approach to 3D scene understanding that aims to infer the 3D scene structure from 2D images.…

This paper presents an unsupervised deep learning framework called UnDEMoN for estimating dense depth map and 6-DoF camera pose information directly from monocular images. The proposed network is trained using unlabeled monocular stereo…

Source camera identification is the process of determining which camera or model has been used to capture an image. In the recent years, there has been a rapid growth of research interest in the domain of forensics. In the current work, we…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…