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

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

Learning-based visual odometry and SLAM methods demonstrate a steady improvement over past years. However, collecting ground truth poses to train these methods is difficult and expensive. This could be resolved by training in an…

In this paper we propose USegScene, a framework for semantically guided unsupervised learning of depth, optical flow and ego-motion estimation for stereo camera images using convolutional neural networks. Our framework leverages semantic…

Recently, self-supervised learning of depth and ego-motion from thermal images shows strong robustness and reliability under challenging scenarios. However, the inherent thermal image properties such as weak contrast, blurry edges, and…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

This paper presents an unsupervised deep learning framework called UnDEMoN for estimating dense depth map and 6-DoF camera pose information directly from monocular images. The proposed network is trained using unlabeled monocular stereo…

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…

In this paper, we propose a novel approach to enhance the 3D body pose estimation of a person computed from videos captured from a single wearable camera. The key idea is to leverage high-level features linking first- and third-views in a…

Self-supervised learning has emerged as a powerful tool for depth and ego-motion estimation, leading to state-of-the-art results on benchmark datasets. However, one significant limitation shared by current methods is the assumption of a…

In this paper, we introduce Geometry-Inverse-Meet-Pixel-Insert, short for GEO, an exceptionally versatile image editing technique designed to cater to customized user requirements at both local and global scales. Our approach seamlessly…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

We present EgoPoseFormer, a simple yet effective transformer-based model for stereo egocentric human pose estimation. The main challenge in egocentric pose estimation is overcoming joint invisibility, which is caused by self-occlusion or a…

We present a novel self-supervised algorithm named MotionHint for monocular visual odometry (VO) that takes motion constraints into account. A key aspect of our approach is to use an appropriate motion model that can help existing…

Knowledge about the location of a vehicle is indispensable for autonomous driving. In order to apply global localisation methods, a pose prior must be known which can be obtained from visual odometry. The quality and robustness of that…

Egocentric human pose estimation (HPE) using a head-mounted device is crucial for various VR and AR applications, but it faces significant challenges due to keypoint invisibility. Nevertheless, none of the existing egocentric HPE datasets…

Dense visual odometry (VO), which provides pose estimation and dense 3D reconstruction, serves as the cornerstone for applications ranging from robotics to augmented reality. Recently, feed-forward models have demonstrated remarkable…