相关论文: Unsupervised Learning-based Depth Estimation aided…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…

Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, previous works in this direction either rely on RGB-D sensors, or require a separate…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

Single view depth estimation models can be trained from video footage using a self-supervised end-to-end approach with view synthesis as the supervisory signal. This is achieved with a framework that predicts depth and camera motion, with a…

This paper investigates the problem of reconstructing hyperspectral (HS) images from single RGB images captured by commercial cameras, \textbf{without} using paired HS and RGB images during training. To tackle this challenge, we propose a…

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…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

In the proposed study, we describe an approach to improving the computational efficiency and robustness of visual SLAM algorithms on mobile robots with multiple cameras and limited computational power by implementing an intermediate layer…

Single-pixel imaging (SPI) offers a cost-effective route to hyperspectral acquisition but struggles to recover high-fidelity spatial and spectral details under extremely low sampling rates, a severely ill-posed inverse problem. While deep…

Recent advancements in RGB-only dense Simultaneous Localization and Mapping (SLAM) have predominantly utilized grid-based neural implicit encodings and/or struggle to efficiently realize global map and pose consistency. To this end, we…

Cross-spectral biometrics, such as matching imagery of faces or persons from visible (RGB) and infrared (IR) bands, have rapidly advanced over the last decade due to increasing sensitivity, size, quality, and ubiquity of IR focal plane…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Robust SLAM is a crucial enabler for autonomous navigation in natural, semi-structured environments such as parks and gardens. However, these environments present unique challenges for SLAM due to frequent seasonal changes, varying light…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

We tackle the problem of unsupervised synthetic-to-real domain adaptation for single image depth estimation. An essential building block of single image depth estimation is an encoder-decoder task network that takes RGB images as input and…

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…

With the development of computational intelligence algorithms, unsupervised monocular depth and pose estimation framework, which is driven by warped photometric consistency, has shown great performance in the daytime scenario. While in some…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…