相关论文: DeepTIO: A Deep Thermal-Inertial Odometry with Vis…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

Autonomous driving relies on deriving understanding of objects and scenes through images. These images are often captured by sensors in the visible spectrum. For improved detection capabilities we propose the use of thermal sensors to…

Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…

In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth maps of the immediate surroundings. Leveraging the proposed…

This letter provides what is, to the best of our knowledge, a first study on the applicability of ultra-low-resolution thermal cameras for providing rotational odometry measurements to navigational devices such as rovers and drones. Our use…

In this paper, we attempt to employ convolutional recurrent neural networks for weather temperature estimation using only image data. We study ambient temperature estimation based on deep neural networks in two scenarios a) estimating…

Olfactory navigation is one of the most primitive mechanisms of exploration used by organisms. Navigation by machine olfaction (artificial smell) is a very difficult task to both simulate and solve. With this work, we define olfactory…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

We present a study of using machine learning to enhance hohlraum design for opacity measurement experiments. For opacity experiments we desire a hohlraum that, when its interior walls are illuminated by theNational Ignition Facility (NIF)…

Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

Purpose: Optical imaging is evolving as a key technique for advanced sensing in the operating room. Recent research has shown that machine learning algorithms can be used to address the inverse problem of converting pixel-wise multispectral…

Deformable scenes violate the rigidity assumptions underpinning classical visual--inertial odometry (VIO), often leading to over-fitting to local non-rigid motion or to severe camera pose drift when deformation dominates visual parallax. In…

Large Vision-Language Models (VLMs) have achieved remarkable success across diverse multimodal tasks but remain vulnerable to hallucinations rooted in inherent language bias. Despite recent progress, existing hallucination mitigation…

Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel…

This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…

Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…