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

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumption. To successfully bootstrap VIO algorithms, the…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

Monocular and binocular self-supervised depth estimations are two important and related tasks in computer vision, which aim to predict scene depths from single images and stereo image pairs respectively. In literature, the two tasks are…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…

Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

Depth map enhancement using paired high-resolution RGB images offers a cost-effective solution for improving low-resolution depth data from lightweight ToF sensors. Nevertheless, naively adopting a depth estimation pipeline to fuse the two…

Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges regarding robust operation in dark,…