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

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…

In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…

Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately estimating an object's mass before interaction can significantly…

While a traditional camera only captures one point of view of a scene, a plenoptic or light-field camera, is able to capture spatial and angular information in a single snapshot, enabling depth estimation from a single acquisition. In this…

Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…

Self-supervised multi-frame methods have currently achieved promising results in depth estimation. However, these methods often suffer from mismatch problems due to the moving objects, which break the static assumption. Additionally,…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

Event cameras are well suited for visual odometry under high-speed motion and challenging lighting conditions due to their low latency, high temporal resolution, and high dynamic range. Deep Event Visual Odometry (DEVO) demonstrated that…

To support minimally-invasive intraoperative mitral valve repair, quantitative measurements from the valve can be obtained using an infra-red tracked stylus. It is desirable to view such manually measured points together with the endoscopic…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…

The present paper reviews the classical problem of free-form curve registration and applies it to an efficient RGBD visual odometry system called Canny-VO, as it efficiently tracks all Canny edge features extracted from the images. Two…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

Thermal infrared sensors, with wavelengths longer than smoke particles, can capture imagery independent of darkness, dust, and smoke. This robustness has made them increasingly valuable for motion estimation and environmental perception in…