相关论文: MagicVO: End-to-End Monocular Visual Odometry thro…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…

Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…

In this paper we introduce MLINE-VINS, a novel monocular visual-inertial odometry (VIO) system that leverages line features and Manhattan Word assumption. Specifically, for line matching process, we propose a novel geometric line optical…

Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…

Deep visual odometry has demonstrated great advancements by learning-to-optimize technology. This approach heavily relies on the visual matching across frames. However, ambiguous matching in challenging scenarios leads to significant errors…

Convolutional Neural Networks (CNNs) have been recently employed to solve problems from both the computer vision and medical image analysis fields. Despite their popularity, most approaches are only able to process 2D images while most…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation…

We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In…

Image fusion is a crucial technique in the field of computer vision, and its goal is to generate high-quality fused images and improve the performance of downstream tasks. However, existing fusion methods struggle to balance these two…

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…

Mixed reality applications often require virtual objects that are partly occluded by real objects. However, previous research and commercial products have limitations in terms of performance and efficiency. To address these challenges, we…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…