相关论文: Direct Sparse Odometry

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion…

We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth…

We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…

Feature descriptors, such as SIFT and ORB, are well-known for their robustness to illumination changes, which has made them popular for feature-based VSLAM\@. However, in degraded imaging conditions such as low light, low texture, blur and…

We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation…

We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…

We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration…

Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Feature based visual odometry and SLAM methods require accurate and fast correspondence matching between consecutive image frames for precise camera pose estimation in real-time. Current feature matching pipelines either rely solely on the…

Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…

This paper introduces a novel approach for image and video orientation estimation by leveraging depth distribution in natural images. The proposed method estimates the orientation based on the depth distribution across different quadrants…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

We introduce a novel method to perform linear optical random projections without the need for holography. Our method consists of a computationally trivial combination of multiple intensity measurements to mitigate the information loss…

In multi-view 3D human pose estimation, models typically rely on images captured simultaneously from different camera views to predict a pose at a specific moment. While providing accurate spatial information, this traditional approach…

Event-based cameras are new type vision sensors whose pixels work independently and respond asynchronously to brightness change with microsecond resolution, instead of providing standard intensity frames. Compared with traditional cameras,…

The rapid development of 3D technology and computer vision applications have motivated a thrust of methodologies for depth acquisition and estimation. However, most existing hardware and software methods have limited performance due to poor…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…