相关论文: Estimation of Absolute Scale in Monocular SLAM Usi…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

Monocular depth estimation is an important step in many downstream tasks in machine vision. We address the topic of estimating monocular depth from defocus blur which can yield more accurate results than the semantic based depth estimation…

In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves…

We present ViSTA-SLAM as a real-time monocular visual SLAM system that operates without requiring camera intrinsics, making it broadly applicable across diverse camera setups. At its core, the system employs a lightweight symmetric two-view…

In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

As processing power has become more available, more human-like artificial intelligences are created to solve image processing tasks that we are inherently good at. As such we propose a model that estimates depth from a monocular image. Our…

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…

Conventional depth-free multi-view datasets are captured using a moving monocular camera without metric calibration. The scales of camera positions in this monocular setting are ambiguous. Previous methods have acknowledged scale ambiguity…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…

Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…

Classical Visual Simultaneous Localization and Mapping (VSLAM) algorithms can be easily induced to fail when either the robot's motion or the environment is too challenging. The use of Deep Neural Networks to enhance VSLAM algorithms has…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

There has been tremendous research progress in estimating the depth of a scene from a monocular camera image. Existing methods for single-image depth prediction are exclusively based on deep neural networks, and their training can be…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered glamorous in any sense of the word, it is nonetheless crucial…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…