相关论文: BIT-VO: Visual Odometry at 300 FPS using Binary Fe…

The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algorithms to run onboard, well above the standard video rates,…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

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,…

Visual tracking is one of the most important application areas of computer vision. At present, most algorithms are mainly implemented on PCs, and it is difficult to ensure real-time performance when applied in the real scenario. In order to…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…

Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation and Mapping (VSLAM) -…

Current state-of-the-art segmentation models encode entire images before focusing on specific objects. As a result, they waste computational resources - particularly when small objects are to be segmented in high-resolution scenes. We…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

In this article we show that the vector-Apodizing Phase Plate (vAPP) coronagraph can be designed such that the coronagraphic point spread functions (PSFs) can act as a wavefront sensor to measure and correct the (quasi-)static aberrations,…

We present the first event-based learning approach for motion segmentation in indoor scenes and the first event-based dataset - EV-IMO - which includes accurate pixel-wise motion masks, egomotion and ground truth depth. Our approach is…

The separation of the data capture and analysis in modern vision systems has led to a massive amount of data transfer between the end devices and cloud computers, resulting in long latency, slow response, and high power consumption.…

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…

The SVOM Visible Telescope (VT) is critical for the rapid identification of gamma-ray burst (GRB) optical counterparts, particularly for high-redshift candidates that require immediate infrared spectroscopic follow-up. To address the…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

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,…

Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…

Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…

We propose a new multi-frame method for efficiently computing scene flow (dense depth and optical flow) and camera ego-motion for a dynamic scene observed from a moving stereo camera rig. Our technique also segments out moving objects from…

Computationally removing the motion blur introduced by camera shake or object motion in a captured image remains a challenging task in computational photography. Deblurring methods are often limited by the fixed global exposure time of the…

Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…