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

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…

Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

Learning-based Multi-View Stereo (MVS) methods aim to predict depth maps for a sequence of calibrated images to recover dense point clouds. However, existing MVS methods often struggle with challenging regions, such as textureless regions…

Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…

In this paper, we are committed to establishing an unified and end-to-end multi-modal network via exploring the language-guided visual recognition. To approach this target, we first propose a novel multi-modal convolution module called…

Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…

In this paper, we propose a learning-based method for predicting dense depth values of a scene from a monocular omnidirectional image. An omnidirectional image has a full field-of-view, providing much more complete descriptions of the scene…

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,…

The escalating energy demands and parallel-processing bottlenecks of electronic neural networks underscore the need for alternative computing paradigms. Optical neural networks, capitalizing on the inherent parallelism and speed of light…

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…

Over the past few years, deep neural networks (DNNs) have exhibited great success in predicting the saliency of images. However, there are few works that apply DNNs to predict the saliency of generic videos. In this paper, we propose a…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Medical image segmentation is a fundamental task in the community of medical image analysis. In this paper, a novel network architecture, referred to as Convolution, Transformer, and Operator (CTO), is proposed. CTO employs a combination of…

Recently, convolutional neural networks (CNNs) have shown great success on the task of monocular depth estimation. A fundamental yet unanswered question is: how CNNs can infer depth from a single image. Toward answering this question, we…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…

In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of…

6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…