相关论文: Omnidirectional DSO: Direct Sparse Odometry with F…

Accurate depth estimation is crucial for 3D scene comprehension in robotics and autonomous vehicles. Fisheye cameras, known for their wide field of view, have inherent geometric benefits. However, their use in depth estimation is restricted…

One of the intuitive instruction methods in robot navigation is a pointing gesture. In this study, we propose a method using an omnidirectional camera to eliminate the user/object position constraint and the left/right constraint of the…

In this work, we fabricated and studied two designs for omnidirectional vision sensors for swarm robotics, based on catadioptric systems consisting of a mirror with rotational symmetry, eight discrete infrared photodiodes and a single LED,…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

There has been much recent interest in deep learning methods for monocular image based object pose estimation. While object pose estimation is an important problem for autonomous robot interaction with the physical world, and the…

In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration…

In this paper, we deal with the problem of monocular depth estimation for fisheye cameras in a self-supervised manner. A known issue of self-supervised depth estimation is that it suffers in low-light/over-exposure conditions and in large…

In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the…

Omnidirectional 360{\deg} camera proliferates rapidly for autonomous robots since it significantly enhances the perception ability by widening the field of view(FoV). However, corresponding 360{\deg} depth sensors, which are also critical…

We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…

Although fisheye cameras are in high demand in many application areas due to their large field of view, many image and video signal processing tasks such as motion compensation suffer from the introduced strong radial distortions. A…

Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…

Reliable omnidirectional depth estimation from multi-fisheye stereo matching is pivotal to many applications, such as embodied robotics. Existing approaches either rely on spherical sweeping with heuristic fusion strategies to build the…

We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…

Fisheye images are categorized fisheye into central and deviated based on the optical center position. Existing rectification methods are limited to central fisheye images, while this paper proposes a novel method that extends to deviated…