相关论文: DeepTAM: Deep Tracking and Mapping

Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…

Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…

DensePose supersedes traditional landmark detectors by densely mapping image pixels to body surface coordinates. This power, however, comes at a greatly increased annotation time, as supervising the model requires to manually label hundreds…

Deep Matching (DM) is a popular high-quality method for quasi-dense image matching. Despite its name, however, the original DM formulation does not yield a deep neural network that can be trained end-to-end via backpropagation. In this…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

Biodiversity conservation depends on accurate, up-to-date information about wildlife population distributions. Motion-activated cameras, also known as camera traps, are a critical tool for population surveys, as they are cheap and…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

The deep learning-based visual tracking algorithms such as MDNet achieve high performance leveraging to the feature extraction ability of a deep neural network. However, the tracking efficiency of these trackers is not very high due to the…

Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only…

We propose a learning-based depth from focus/defocus (DFF), which takes a focal stack as input for estimating scene depth. Defocus blur is a useful cue for depth estimation. However, the size of the blur depends on not only scene depth but…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

Markerless motion capture has become an active field of research in computer vision in recent years. Its extensive applications are known in a great variety of fields, including computer animation, human motion analysis, biomedical…

This paper presents DeepFLASH, a novel network with efficient training and inference for learning-based medical image registration. In contrast to existing approaches that learn spatial transformations from training data in the high…