相关论文: Ground Plane based Absolute Scale Estimation for M…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

Estimating 3D geometry from monocular colonoscopy images is challenging due to non-Lambertian surfaces, moving light sources, and large textureless regions. While recent 3D geometric foundation models eliminate the need for multi-stage…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Computer vision-based object detection is a key modality for advanced Detect-And-Avoid systems that allow for autonomous flight missions of UAVs. While standard object detection frameworks do not predict the actual depth of an object, this…

3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

Utilizing a single camera for measuring object distances is a cost-effective alternative to stereo-vision and LiDAR. Although monocular distance estimation has been explored in the literature, most existing techniques rely on object class…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Online camera-to-ground calibration is to generate a non-rigid body transformation between the camera and the road surface in a real-time manner. Existing solutions utilize static calibration, suffering from environmental variations such as…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Rolling Shutter (RS) cameras have become popularized because of low-cost imaging capability. However, the RS cameras suffer from undesirable artifacts when the camera or the subject is moving, or illumination condition changes. For that…

Full surround monodepth (FSM) methods can learn from multiple camera views simultaneously in a self-supervised manner to predict the scale-aware depth, which is more practical for real-world applications in contrast to scale-ambiguous depth…

Inspired by the cognitive process of humans and animals, Curriculum Learning (CL) trains a model by gradually increasing the difficulty of the training data. In this paper, we study whether CL can be applied to complex geometry problems…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…