相关论文: SelfVIO: Self-Supervised Deep Monocular Visual-Ine…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…

Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…

In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize…

We propose a self-supervised learning framework for visual odometry (VO) that incorporates correlation of consecutive frames and takes advantage of adversarial learning. Previous methods tackle self-supervised VO as a local structure from…

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…

In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…