相关论文: Fast Cylinder and Plane Extraction from Depth Came…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…
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…
Recent years have witnessed the rapid progress of image captioning. However, the demands for large memory storage and heavy computational burden prevent these captioning models from being deployed on mobile devices. The main obstacles lie…
This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…
We introduce DOPE, the first method to detect and estimate whole-body 3D human poses, including bodies, hands and faces, in the wild. Achieving this level of details is key for a number of applications that require understanding the…
Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…
Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…
The discrete wavelet transform can be found at the heart of many image-processing algorithms. Until now, the transform on general-purpose processors (CPUs) was mostly computed using a separable lifting scheme. As the lifting scheme consists…
This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed…
Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…
In video-based dynamic point cloud compression (V-PCC), 3D point clouds are projected onto 2D images for compressing with the existing video codecs. However, the existing video codecs are originally designed for natural visual signals, and…
Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…
The recently proposed open-source KAZE image feature detection and description algorithm offers unprecedented performance in comparison to conventional ones like SIFT and SURF as it relies on nonlinear scale spaces instead of Gaussian…
Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…
High-quality panoramic images with a Field of View (FoV) of 360{\deg} are essential for contemporary panoramic computer vision tasks. However, conventional imaging systems come with sophisticated lens designs and heavy optical components.…
In this study, we explore the application of deep learning techniques for predicting cleansing quality in colon capsule endoscopy (CCE) images. Using a dataset of 500 images labeled by 14 clinicians on the Leighton-Rex scale (Poor, Fair,…
This work presents a highly optimized computational framework for the Discrete Dipole Approximation, a numerical method for calculating the optical properties associated with a target of arbitrary geometry that is widely used in…