相关论文: ADVIO: An authentic dataset for visual-inertial od…
One of the key factors behind the recent success in visual tracking is the availability of dedicated benchmarks. While being greatly benefiting to the tracking research, existing benchmarks do not pose the same difficulty as before with…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…
We introduce ITTO, a challenging new benchmark suite for evaluating and diagnosing the capabilities and limitations of point tracking methods. Our videos are sourced from existing datasets and egocentric real-world recordings, with…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
Autonomous Vehicle (AV) perception systems require more than simply seeing, via e.g., object detection or scene segmentation. They need a holistic understanding of what is happening within the scene for safe interaction with other road…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…
The paper evaluates the error performance of three random finite set based multi-object trackers in the context of pedestrian video tracking. The evaluation is carried out using a publicly available video dataset of 4500 frames (town centre…
Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…
The segmentation of a gaze trace into its constituent eye movements has been actively researched since the early days of eye tracking. As we move towards more naturalistic viewing conditions, the segmentation becomes even more challenging…
A prior map serves as a foundational reference for localization in context-aware applications such as augmented reality (AR). Providing valuable contextual information about the environment, the prior map is a vital tool for mitigating…
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructure inspections taking place in GPS-denied environments, the…
While image retrieval and instance recognition techniques are progressing rapidly, there is a need for challenging datasets to accurately measure their performance -- while posing novel challenges that are relevant for practical…
Visual Object Tracking (VOT) is a fundamental task with widespread applications in autonomous navigation, surveillance, and maritime robotics. Despite significant advances in generic object tracking, maritime environments continue to…
In recent years, precision agriculture has been introducing groundbreaking innovations in the field, with a strong focus on automation. However, research studies in robotics and autonomous navigation often rely on controlled simulations or…
Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…
In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…
Visual-Inertial Odometry (VIO) supports immersive Virtual Reality (VR) by fusing camera and Inertial Measurement Unit (IMU) data for real-time pose. However, current trend of offloading VIO to edge servers can lead server-side threat…
Walking has always been a primary mode of transportation and is recognized as an essential activity for maintaining good health. Despite the need for safe walking conditions in urban environments, sidewalks are frequently obstructed by…