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

Current and future high contrast imaging instruments aim to detect exoplanets at closer orbital separations, lower masses, and/or older ages than their predecessors. However, continually evolving speckles in the coronagraphic science image…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…

Particle Image Velocimetry (PIV) is the most commonly used optical technique for measuring 2D velocity fields. However, improving the spatial resolution of instantaneous velocity fields and having access to the velocity field in real time…

Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

Fixed-complexity Sphere Decoder (FSD) is a recently proposed technique for Multiple-Input Multiple-Output (MIMO) detection. It has several outstanding features such as constant throughput and large potential parallelism, which makes it…

We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

This paper proposes a new framework to solve the problem of monocular visual odometry, called MagicVO . Based on Convolutional Neural Network (CNN) and Bi-directional LSTM (Bi-LSTM), MagicVO outputs a 6-DoF absolute-scale pose at each…

Exoplanet detection and characterization through extreme adaptive optics (ExAO) is a key science goal of future extremely large telescopes. This achievement, however, will be limited in sensitivity by both quasi-static wavefront errors and…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

This paper presents a novel training-free framework for open-vocabulary image segmentation and object recognition (OVSR), which leverages EfficientNetB0, a convolutional neural network, for unsupervised segmentation and CLIP, a…

Pixel Processor Arrays (PPA) present a new vision sensor/processor architecture consisting of a SIMD array of processor elements, each capable of light capture, storage, processing and local communication. Such a device allows visual data…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios.…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

We present two complementary algorithms suitable for using focal-plane measurements to control a wavefront corrector with an extremely high spatial resolution. The algorithms use linear approximations to iteratively minimize the aberrations…