相关论文: Fault-Diagnosing SLAM for Varying Scale Change Det…

Small area change detection from synthetic aperture radar (SAR) is a highly challenging task. In this paper, a robust unsupervised approach is proposed for small area change detection from multi-temporal SAR images using deep learning.…

Indoor localization faces persistent challenges in achieving high accuracy, particularly in GPS-deprived environments. This study unveils a cutting-edge handheld indoor localization system that integrates 2D LiDAR and IMU sensors,…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

In this research, a novel robust change detection approach is presented for imbalanced multi-temporal synthetic aperture radar (SAR) image based on deep learning. Our main contribution is to develop a novel method for generating difference…

Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…

Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…

Unsupervised visual anomaly detection from multi-view images presents a significant challenge: distinguishing genuine defects from benign appearance variations caused by viewpoint changes. Existing methods, often designed for single-view…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Machine fault diagnosis (FD) is a critical task for predictive maintenance, enabling early fault detection and preventing unexpected failures. Despite its importance, existing FD models are operation-specific with limited generalization…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

Semi-supervised video anomaly detection methods face two critical challenges: (1) Strong generalization blurs the boundary between normal and abnormal patterns. Although existing approaches attempt to alleviate this issue using memory…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Existing solutions to visual simultaneous localization and mapping (V-SLAM) assume that errors in feature extraction and matching are independent and identically distributed (i.i.d), but this assumption is known to not be true -- features…

Recent studies on visual anomaly detection (AD) of industrial objects/textures have achieved quite good performance. They consider an unsupervised setting, specifically the one-class setting, in which we assume the availability of a set of…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

With the rapid advancement of image generation techniques, robust forgery detection has become increasingly imperative to ensure the trustworthiness of digital media. Recent research indicates that the learned semantic concepts of…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

This paper demonstrates a practical method that can correct spatial varying blur from a set of images of the same object. The algorithm jointly estimates the object and local point spread functions~(PSF). The method prioritizes sections…