相关论文: Training Deep SLAM on Single Frames

We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…

We address the challenging problem of jointly inferring the 3D flow and volumetric densities moving in a fluid from a monocular input video with a deep neural network. Despite the complexity of this task, we show that it is possible to…

Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

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…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

This paper deals with the scarcity of data for training optical flow networks, highlighting the limitations of existing sources such as labeled synthetic datasets or unlabeled real videos. Specifically, we introduce a framework to generate…

Classical Visual Simultaneous Localization and Mapping (VSLAM) algorithms can be easily induced to fail when either the robot's motion or the environment is too challenging. The use of Deep Neural Networks to enhance VSLAM algorithms has…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Unsupervised video object segmentation (VOS) aims to detect the most prominent object in a video. Recently, two-stream approaches that leverage both RGB images and optical flow have gained significant attention, but their performance is…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which…

In dense foggy scenes, existing optical flow methods are erroneous. This is due to the degradation caused by dense fog particles that break the optical flow basic assumptions such as brightness and gradient constancy. To address the…

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

Offline reinforcement learning (RL) offers a promising framework for training agents using pre-collected datasets without the need for further environment interaction. However, policies trained on offline data often struggle to generalise…

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep…

Recently unsupervised learning of depth from videos has made remarkable progress and the results are comparable to fully supervised methods in outdoor scenes like KITTI. However, there still exist great challenges when directly applying…