相关论文: Stereo-based Multi-motion Visual Odometry for Mobi…
Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…
Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…
Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…
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…
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…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…
With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is…
Mobile robots rely on odometry to navigate through areas where localization fails. Visual odometry (VO) is a common solution for obtaining robust and consistent relative motion estimates of the vehicle frame. Contrarily, Global Positioning…
The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…
In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradigm, which computes absolute camera poses from the local map thus requires large-scale landmark maintenance and continuous map…
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…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…