相关论文: Spline Error Weighting for Robust Visual-Inertial …

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

Video Frame Interpolation synthesizes non-existent images between adjacent frames, with the aim of providing a smooth and consistent visual experience. Two approaches for solving this challenging task are optical flow based and kernel-based…

Features from multiple scales can greatly benefit the semantic edge detection task if they are well fused. However, the prevalent semantic edge detection methods apply a fixed weight fusion strategy where images with different semantics are…

Visual error metrics play a fundamental role in the quantification of perceived image similarity. Most recently, use cases for them in real-time applications have emerged, such as content-adaptive shading and shading reuse to increase…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…

In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…

We introduce Intrinsic Image Fusion, a method that reconstructs high-quality physically based materials from multi-view images. Material reconstruction is highly underconstrained and typically relies on analysis-by-synthesis, which requires…

Saliency prediction can be of great benefit for 360-degree image/video applications, including compression, streaming , rendering and viewpoint guidance. It is therefore quite natural to adapt the 2D saliency prediction methods for…

We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…

This paper aims to solve a fundamental problem in intensity-based 2D/3D registration, which concerns the limited capture range and need for very good initialization of state-of-the-art image registration methods. We propose a regression…

We present a generalized formulation for reweighted least squares approximations. The goal of this article is twofold: firstly, to prove that the solution of such problem can be expressed as a convex combination of certain interpolants when…

This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are…

This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…

Real-time 3D human pose estimation is crucial for human-computer interaction. It is cheap and practical to estimate 3D human pose only from monocular video. However, recent bone splicing based 3D human pose estimation method brings about…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…

We consider fitting a bivariate spline regression model to data using a weighted least-squares cost function, with weights that sum to one to form a discrete probability distribution. By applying the principle of maximum entropy, the weight…