相关论文: SPLODE: Semi-Probabilistic Point and Line Odometry…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynamic scenes, and low-texture areas. These challenges degrade…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Hand pose represents key information for action recognition in the egocentric perspective, where the user is interacting with objects. We propose to improve egocentric 3D hand pose estimation based on RGB frames only by using pseudo-depth…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

In recent years, depth sensors have become more and more affordable and have found their way into a growing amount of robotic systems. However, mono- or multi-modal sensor registration, often a necessary step for further processing, faces…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we present a novel dense RGB-D SLAM solution that…

With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Light field cameras and multi-camera arrays have emerged as promising solutions for accurately estimating depth by passively capturing light information. This is possible because the 3D information of a scene is embedded in the 4D light…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…

Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…