相关论文: PlaneMatch: Patch Coplanarity Prediction for Robus…

Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…

We present a novel neural RGB-D Simultaneous Localization And Mapping (SLAM) system that learns an implicit map of the scene in real time. For the first time, we explore the use of Scene Coordinate Regression (SCR) as the core implicit map…

In this paper, we propose a new correlated and individual multi-modal deep learning (CIMDL) method for RGB-D object recognition. Unlike most conventional RGB-D object recognition methods which extract features from the RGB and depth…

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

3D reconstruction garners increasing attention alongside the advancement of high-level image applications, where dense stereo matching (DSM) serves as a pivotal technique. Previous studies often rely on publicly available datasets for…

In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…

In this work, we introduce the novel problem of identifying dense canonical 3D coordinate frames from a single RGB image. We observe that each pixel in an image corresponds to a surface in the underlying 3D geometry, where a canonical frame…

Cross spectral camera arrays, where each camera records different spectral content, are becoming increasingly popular for RGB, multispectral and hyperspectral imaging, since they are capable of a high resolution in every dimension using…

In this paper, we propose a novel regularization method for Generative Adversarial Networks, which allows the model to learn discriminative yet compact binary representations of image patches (image descriptors). We employ the…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

We present a robust visual-inertial SLAM system that combines the benefits of Convolutional Neural Networks (CNNs) and planar constraints. Our system leverages a CNN to predict the depth map and the corresponding uncertainty map for each…

This paper contains the performance analysis and benchmarking of two popular visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The dataset…

Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion…

In recent years, powered by the learned discriminative representation via graph neural network (GNN) models, deep graph matching methods have made great progresses in the task of matching semantic features. However, these methods usually…

Reconstructing a dynamic scene from image inputs is a fundamental computer vision task with many downstream applications. Despite recent advancements, existing approaches still struggle to achieve high-quality reconstructions from unseen…

Image stitching for two images without a global transformation between them is notoriously difficult. In this paper, noticing the importance of planar structure under perspective geometry, we propose a new image stitching method which…

Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can…

Superpixels have become very popular in many computer vision applications. Nevertheless, they remain underexploited since the superpixel decomposition may produce irregular and non stable segmentation results due to the dependency to the…