相关论文: Continuous Direct Sparse Visual Odometry from RGB-…

This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…

Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most Visual Odometry (VO) algorithms rely on the usage of geometric features such as points, lines and…

Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…

The emergence of modern RGB-D sensors had a significant impact in many application fields, including robotics, augmented reality (AR) and 3D scanning. They are low-cost, low-power and low-size alternatives to traditional range sensors such…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…

This paper develops a new mathematical framework that enables nonparametric joint semantic and geometric representation of continuous functions using data. The joint embedding is modeled by representing the processes in a reproducing kernel…

Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the…

Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…

The monocular visual-inertial odometry (VIO) based on the direct method can leverage all available pixels in the image to simultaneously estimate the camera motion and reconstruct the denser map of the scene in real time. However, the…

Neglecting the effects of rolling-shutter cameras for visual odometry (VO) severely degrades accuracy and robustness. In this paper, we propose a novel direct monocular VO method that incorporates a rolling-shutter model. Our approach…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Dense image matching is a fundamental low-level problem in Computer Vision, which has received tremendous attention from both discrete and continuous optimization communities. The goal of this paper is to combine the advantages of discrete…

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the…

3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…

We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…

Guided depth super-resolution (GDSR) has demonstrated impressive performance across a wide range of domains, with numerous methods being proposed. However, existing methods often treat depth maps as images, where shading values are computed…