相关论文: Adaptive Continuous Visual Odometry from RGB-D Ima…

Photometric calibration is essential to many computer vision applications. One of its key benefits is enhancing the performance of Visual SLAM, especially when it depends on a direct method for tracking, such as the standard KLT algorithm.…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Computer vision algorithms are known to be extremely sensitive to the environmental conditions in which the data is captured, e.g., lighting conditions and target density. Tuning of parameters or choosing a completely new algorithm is often…

Recognizing objects from simultaneously sensed photometric (RGB) and depth channels is a fundamental yet practical problem in many machine vision applications such as robot grasping and autonomous driving. In this paper, we address this…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

This paper studies monocular visual odometry (VO) problem. Most of existing VO algorithms are developed under a standard pipeline including feature extraction, feature matching, motion estimation, local optimisation, etc. Although some of…

Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…

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…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

The application of the context-adaptive entropy model significantly improves the rate-distortion (R-D) performance, in which hyperpriors and autoregressive models are jointly utilized to effectively capture the spatial redundancy of the…

We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…

Conventional 2D Convolutional Neural Networks (CNN) extract features from an input image by applying linear filters. These filters compute the spatial coherence by weighting the photometric information on a fixed neighborhood without taking…

In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…

In this work, we propose a two-stage video coding framework, as an extension of our previous one-stage framework in [1]. The two-stage frameworks consists two different dictionaries. Specifically, the first stage directly finds the sparse…

Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels that cannot adapt to unknown moving objects, leading to…

Recent advancements in Vision-Language (VL) models have sparked interest in their deployment on edge devices, yet challenges in handling diverse visual modalities, manual annotation, and computational constraints remain. We introduce…

Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the…