相关论文: DeepRelativeFusion: Dense Monocular SLAM using Sin…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Recently, deep learning based 3D face reconstruction methods have shown promising results in both quality and efficiency.However, training deep neural networks typically requires a large volume of data, whereas face images with ground-truth…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

We propose GeoFusion, a SLAM-based scene estimation method for building an object-level semantic map in dense clutter. In dense clutter, objects are often in close contact and severe occlusions, which brings more false detections and noisy…

Recent advances in end-to-end unsupervised learning has significantly improved the performance of monocular depth prediction and alleviated the requirement of ground truth depth. Although a plethora of work has been done in enforcing…

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 present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…

This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant…

Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…