相关论文: Deep Direct Visual Odometry

Deep learning-based, single-view depth estimation methods have recently shown highly promising results. However, such methods ignore one of the most important features for determining depth in the human vision system, which is motion. We…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However,…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

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…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

Rolling shutter distortion is highly undesirable for photography and computer vision algorithms (e.g., visual SLAM) because pixels can be potentially captured at different times and poses. In this paper, we propose a deep neural network to…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

In this paper, we present TANDEM a real-time monocular tracking and dense mapping framework. For pose estimation, TANDEM performs photometric bundle adjustment based on a sliding window of keyframes. To increase the robustness, we propose a…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

Monocular depth estimation, which plays a crucial role in understanding 3D scene geometry, is an ill-posed problem. Recent methods have gained significant improvement by exploring image-level information and hierarchical features from deep…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…

Utilizing a single camera for measuring object distances is a cost-effective alternative to stereo-vision and LiDAR. Although monocular distance estimation has been explored in the literature, most existing techniques rely on object class…