相关论文: Unsupervised Depth Completion from Visual Inertial…

We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…

Depth completion is a pivotal challenge in computer vision, aiming at reconstructing the dense depth map from a sparse one, typically with a paired RGB image. Existing learning based models rely on carefully prepared but limited data,…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the…

This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Odometry is of key importance for localization in the absence of a map. There is considerable work in the area of visual odometry (VO), and recent advances in deep learning have brought novel approaches to VO, which directly learn salient…

Self-supervised paradigms for monocular depth estimation are very appealing since they do not require ground truth annotations at all. Despite the astonishing results yielded by such methodologies, learning to reason about the uncertainty…

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…

In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

We describe a non-parametric, "example-based" method for estimating the depth of an object, viewed in a single photo. Our method consults a database of example 3D geometries, searching for those which look similar to the object in the…

Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…

High-precision lidar odomety is an essential part of autonomous driving. In recent years, deep learning methods have been widely used in lidar odomety tasks, but most of the current methods only extract the global features of the point…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…