相关论文: Semi-Dense Visual Odometry for RGB-D Cameras Using…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow. Our goal is to accurately estimate the camera motion in a rigid 3D environment, along with the…

In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…

Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…

Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Image based rendering is a fundamental problem in computer vision and graphics. Modern techniques often rely on depth image for the 3D construction. However for most of the existing depth cameras, the large and unpredictable noises can be…

This paper introduces a novel weighted unsupervised learning for object detection using an RGB-D camera. This technique is feasible for detecting the moving objects in the noisy environments that are captured by an RGB-D camera. The main…

An autonomous system's perception engine must provide an accurate understanding of the environment for it to make decisions. Deep learning based object detection networks experience degradation in the performance and robustness for small…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

This paper addresses the problem of lane detection which is fundamental for self-driving vehicles. Our approach exploits both colour and depth information recorded by a single RGB-D camera to better deal with negative factors such as…

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…