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

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Stereo vision techniques have been widely used in civil engineering to acquire 3-D road data. The two important factors of stereo vision are accuracy and speed. However, it is very challenging to achieve both of them simultaneously and…

Accurate stereo depth estimation plays a critical role in various 3D tasks in both indoor and outdoor environments. Recently, learning-based multi-view stereo methods have demonstrated competitive performance with a limited number of views.…

A wide variety of image denoising methods are available now. However, the performance of a denoising algorithm often depends on individual input noisy images as well as its parameter setting. In this paper, we present a no-reference image…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

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…

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…

Platforms such as robots, security cameras, drones and satellites are used in multi-view imaging for three-dimensional (3D) recovery by stereoscopy or tomography. Each camera in the setup has a field of view (FOV). Multi-view analysis…

Model observers have a long history of success in predicting human observer performance in clinically-relevant detection tasks. New 3D image modalities provide more signal information but vastly increase the search space to be scrutinized.…

To decide whether a digital video has been captured by a given device, multimedia forensic tools usually exploit characteristic noise traces left by the camera sensor on the acquired frames. This analysis requires that the noise pattern…

The photometric stereo (PS) problem consists in reconstructing the 3D-surface of an object, thanks to a set of photographs taken under different lighting directions. In this paper, we propose a multi-scale architecture for PS which,…

Leveraging line features can help to improve the localization accuracy of point-based monocular Visual-Inertial Odometry (VIO) system, as lines provide additional constraints. Moreover, in an artificial environment, some straight lines are…

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the…

This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar…

Diffusion models have found valuable applications in anomaly detection by capturing the nominal data distribution and identifying anomalies via reconstruction. Despite their merits, they struggle to localize anomalies of varying scales,…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Stereo matching estimates the disparity between a rectified image pair, which is of great importance to depth sensing, autonomous driving, and other related tasks. Previous works built cost volumes with cross-correlation or concatenation of…