相关论文: DeepVIO: Self-supervised Deep Learning of Monocula…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

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…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…

Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…

Vision-based stair perception can help autonomous mobile robots deal with the challenge of climbing stairs, especially in unfamiliar environments. To address the problem that current monocular vision methods are difficult to model stairs…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…

Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such…

The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community. Unsupervised strategies to learning are particularly appealing as they can utilize much larger and varied…

We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

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…

Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…