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

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we exploit the…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Gradient methods are widely used in optimization problems. In practice, while the smoothness parameter can be estimated utilizing techniques such as backtracking, estimating the strong convexity parameter remains a challenge; moreover, even…

In this paper, we aim to develop an efficient and compact deep network for RGB-D salient object detection, where the depth image provides complementary information to boost performance in complex scenarios. Starting from a coarse initial…

Most problems involving simultaneous localization and mapping can nowadays be solved using one of two fundamentally different approaches. The traditional approach is given by a least-squares objective, which minimizes many local photometric…

Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…

Large-scale image-text pre-trained models enable zero-shot classification and provide consistent accuracy across various data distributions. Nonetheless, optimizing these models in downstream tasks typically requires fine-tuning, which…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…

State-of-the-art object detection systems rely on an accurate set of region proposals. Several recent methods use a neural network architecture to hypothesize promising object locations. While these approaches are computationally efficient,…

Most of the existing handcrafted and learning-based local descriptors are still at best approximately invariant to affine image transformations, often disregarding deformable surfaces. In this paper, we take one step further by proposing a…

Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to…

A novel approach towards depth map super-resolution using multi-view uncalibrated photometric stereo is presented. Practically, an LED light source is attached to a commodity RGB-D sensor and is used to capture objects from multiple…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…