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

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…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

Models for near-rigid shape matching are typically based on distance-related features, in order to infer matches that are consistent with the isometric assumption. However, real shapes from image datasets, even when expected to be related…

Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

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…

Active-stereo-based 3D shape measurement is crucial for various purposes, such as industrial inspection, reverse engineering, and medical systems, due to its strong ability to accurately acquire the shape of textureless objects. Active…

Biomedical images are noisy. The imaging equipment itself has physical limitations, and the consequent experimental trade-offs between signal-to-noise ratio, acquisition speed, and imaging depth exacerbate the problem. Denoising is,…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

Visual restoration and recognition are traditionally addressed in pipeline fashion, i.e. denoising followed by classification. Instead, observing correlations between the two tasks, for example clearer image will lead to better…

These last few years, image decomposition algorithms have been proposed to split an image into two parts: the structures and the textures. These algorithms are not adapted to the case of noisy images because the textures are corrupted by…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Inferring the 3D shape of an object from an RGB image has shown impressive results, however, existing methods rely primarily on recognizing the most similar 3D model from the training set to solve the problem. These methods suffer from poor…

The growing prevalence of intelligent manufacturing and autonomous vehicles has intensified the demand for three-dimensional (3D) reconstruction under complex reflection and transmission conditions. Traditional structured light techniques…

Traditionally, in Audio Recognition pipeline, noise is suppressed by the "frontend", relying on preprocessing techniques such as speech enhancement. However, it is not guaranteed that noise will not cascade into downstream pipelines. To…

Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…

Most previous works of outdoor instance segmentation for images only use color information. We explore a novel direction of sensor fusion to exploit stereo cameras. Geometric information from disparities helps separate overlapping objects…

We present a novel method for characterizing the microstructure of a material from volumetric datasets such as 3D image data from computed tomography (CT). The method is based on a new statistical model for the distribution of voxel…

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…