相关论文: SASSE: Scalable and Adaptable 6-DOF Pose Estimatio…

Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

Accurate 6-DoF pose estimation of surgical instruments during minimally invasive surgeries can substantially improve treatment strategies and eventual surgical outcome. Existing deep learning methods have achieved accurate results, but they…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

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…

Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…