相关论文: Fast Cylinder and Plane Extraction from Depth Came…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the…

Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where the light intensity is captured. SCAMP-5 is a…

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…

Plane detection in 3D point clouds is a crucial pre-processing step for applications such as point cloud segmentation, semantic mapping and SLAM. In contrast to many recent plane detection methods that are only applicable on organized point…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error…

This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requires storing past point clouds and…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…

In this paper we present ADOP, a novel point-based, differentiable neural rendering pipeline. Like other neural renderers, our system takes as input calibrated camera images and a proxy geometry of the scene, in our case a point cloud. To…

Analyzing the morphological attributes of blood vessels plays a critical role in the computer-aided diagnosis of many cardiovascular and ophthalmologic diseases. Although being extensively studied, segmentation of blood vessels,…

Video capsule endoscopy (VCE) is used widely nowadays for visualizing the gastrointestinal (GI) tract. Capsule endoscopy exams are prescribed usually as an additional monitoring mechanism and can help in identifying polyps, bleeding, etc.…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Category-Agnostic Pose Estimation (CAPE) aims to localize keypoints on an object of any category given few exemplars in an in-context manner. Prior arts involve sophisticated designs, e.g., sundry modules for similarity calculation and a…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods…

Wireless capsule endoscopy (WCE) is an effective mean for diagnosis of gastrointestinal disorders. Detection of informative scenes in WCE video could reduce the length of transmitted videos and help the diagnosis procedure. In this paper,…