相关论文: Beyond Photometric Loss for Self-Supervised Ego-Mo…

Immersive virtual reality (VR) applications demand accurate, temporally coherent full-body pose tracking. Recent head-mounted camera-based approaches show promise in egocentric pose estimation, but encounter challenges when applied to VR…

Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…

Estimating relative pose from image pairs fundamentally requires only a minimal subset of geometrically consistent correspondences. However, most learning-based approaches rely on dense matching or direct regression, leading to redundancy…

This work proposes a novel deep network architecture to solve the camera Ego-Motion estimation problem. A motion estimation network generally learns features similar to Optical Flow (OF) fields starting from sequences of images. This OF can…

Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Self-supervised depth estimators have recently shown results comparable to the supervised methods on the challenging single image depth estimation (SIDE) task, by exploiting the geometrical relations between target and reference views in…

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…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

A thermal camera can robustly capture thermal radiation images under harsh light conditions such as night scenes, tunnels, and disaster scenarios. However, despite this advantage, neither depth nor ego-motion estimation research for the…

Bottom-up based multi-person pose estimation approaches use heatmaps with auxiliary predictions to estimate joint positions and belonging at one time. Recently, various combinations between auxiliary predictions and heatmaps have been…

Depth estimation from stereo images remains a challenge even though studied for decades. The KITTI benchmark shows that the state-of-the-art solutions offer accurate depth estimation, but are still computationally complex and often require…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

The estimation of optical flow and 6-DoF ego-motion, two fundamental tasks in 3D vision, has typically been addressed independently. For neuromorphic vision (e.g., event cameras), however, the lack of robust data association makes solving…

We study the problem of learning to assign a characteristic pose, i.e., scale and orientation, for an image region of interest. Despite its apparent simplicity, the problem is non-trivial; it is hard to obtain a large-scale set of image…

Visual-Semantic Embedding (VSE) is a prevalent approach in image-text retrieval by learning a joint embedding space between the image and language modalities where semantic similarities would be preserved. The triplet loss with…