相关论文: Robust Stereo Feature Descriptor for Visual Odomet…

Inferring the 3D shape of an object from an RGB image has shown impressive results, however, existing methods rely primarily on recognizing the most similar 3D model from the training set to solve the problem. These methods suffer from poor…

This work introduces a novel method for surface normal estimation from rectified stereo image pairs, leveraging affine transformations derived from disparity values to achieve fast and accurate results. We demonstrate how the rectification…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…

Photometric stereo is a method that seeks to reconstruct the normal vectors of an object from a set of images of the object illuminated under different light sources. While effective in some situations, classical photometric stereo relies…

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage…

In this paper, we study the problem of stereo matching from a pair of images with different resolutions, e.g., those acquired with a tele-wide camera system. Due to the difficulty of obtaining ground-truth disparity labels in diverse…

In industrial imaging, accurately detecting and distinguishing surface defects from noise is critical and challenging, particularly in complex environments with noisy data. This paper presents a hybrid framework that integrates both…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…

The histogram of oriented gradients (HOG) is a widely used feature descriptor in computer vision for the purpose of object detection. In the paper, a modified HOG descriptor is described, it uses a lookup table and the method of integral…

Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most Visual Odometry (VO) algorithms rely on the usage of geometric features such as points, lines 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.…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

Optical image data have been used by the Remote Sensing workforce to study land use and cover since such data is easily interpretable. Synthetic Aperture Radar (SAR) has the characteristic of obtaining images during all-day, all-weather and…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…