相关论文: Omnidirectional DSO: Direct Sparse Odometry with F…
Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…
Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…
We present the first evaluation of 3D Gaussian Splatting methods on real fisheye imagery with fields of view above 180\textdegree{}. Our study evaluates Fisheye-GS \cite{liao2024fisheyegslightweightextensiblegaussian} and 3DGUT…
Recent studies have shown that visually impaired people have desires to take selfies in the same way as sighted people do to record their photos and share them with others. Although support applications using sound and vibration have been…
In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth maps of the immediate surroundings. Leveraging the proposed…
Surround View fisheye cameras are commonly deployed in automated driving for 360\deg{} near-field sensing around the vehicle. This work presents a multi-task visual perception network on unrectified fisheye images to enable the vehicle to…
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…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
Omnidirectional image and video super-resolution is a crucial research topic in low-level vision, playing an essential role in virtual reality and augmented reality applications. Its goal is to reconstruct high-resolution images or video…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
In this paper, we present a novel zero-shot camera calibration method that estimates camera parameters with no calibration image. It is common sense that we need at least one or more pattern images for camera calibration. However, the…
We present a new dataset to evaluate monocular, stereo, and plenoptic camera based visual odometry algorithms. The dataset comprises a set of synchronized image sequences recorded by a micro lens array (MLA) based plenoptic camera and a…
We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration…
The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…
Omnidirectional images (ODIs) have obtained lots of research interest for immersive experiences. Although ODIs require extremely high resolution to capture details of the entire scene, the resolutions of most ODIs are insufficient. Previous…
While recent depth foundation models exhibit strong zero-shot generalization, achieving accurate metric depth across diverse camera types-particularly those with large fields of view (FoV) such as fisheye and 360-degree cameras-remains a…
We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
In the last decade, numerous supervised deep learning approaches requiring large amounts of labeled data have been proposed for visual-inertial odometry (VIO) and depth map estimation. To overcome the data limitation, self-supervised…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…