相关论文: Noise Models in Feature-based Stereo Visual Odomet…

We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

Speech recognition system performance degrades in noisy environments. If the acoustic models are built using features of clean utterances, the features of a noisy test utterance would be acoustically mismatched with the trained model. This…

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…

Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…

Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…

Localizing visual sounds consists on locating the position of objects that emit sound within an image. It is a growing research area with potential applications in monitoring natural and urban environments, such as wildlife migration and…

During a surface acquisition process using 3D scanners, noise is inevitable and an important step in geometry processing is to remove these noise components from these surfaces (given as points-set or triangulated mesh). The noise-removal…

Time-of-flight (TOF) cameras are based on a new technology that delivers distance maps by the use of a modulated light source. In this paper we first describe a set of experiments that we performed with TOF cameras. We then propose a noise…

3D Gaussian Splatting (3DGS) has become one of the most promising 3D reconstruction technologies. However, label noise in real-world scenarios-such as moving objects, non-Lambertian surfaces, and shadows-often leads to reconstruction…

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…

We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric. Our pipeline's modular structure allows…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

Shape modeling is a challenging task with many potential applications in computer vision and medical imaging. There are many shape modeling methods in the literature, each with its advantages and applications. However, many shape modeling…

Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a…

One of the fundamental challenges in image restoration is denoising, where the objective is to estimate the clean image from its noisy measurements. To tackle such an ill-posed inverse problem, the existing denoising approaches generally…

The goal of this paper is to assess the impact of noise in 3D camera-captured data by modeling the noise of the imaging process and applying it on synthetic training data. We compiled a dataset of specifically constructed scenes to obtain a…

Generative diffusion models have emerged as leading models in speech and image generation. However, in order to perform well with a small number of denoising steps, a costly tuning of the set of noise parameters is needed. In this work, we…