相关论文: Learning Monocular Visual Odometry via Self-Superv…

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…

This paper proposes a high-precision self-supervised monocular VO, which is specifically designed for navigation in foggy weather. A cycled generative adversarial network is designed to obtain high-quality self-supervised loss via forcing…

Curriculum Learning (CL), drawing inspiration from natural learning patterns observed in humans and animals, employs a systematic approach of gradually introducing increasingly complex training data during model development. Our work…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…

We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…

We present a novel approach to unsupervised learning for video object segmentation (VOS). Unlike previous work, our formulation allows to learn dense feature representations directly in a fully convolutional regime. We rely on uniform grid…

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…

Self-supervised monocular depth estimation has gathered notable interest since it can liberate training from dependency on depth annotations. In monocular video training case, recent methods only conduct view synthesis between existing…

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…

We present a learning based approach for multi-view stereopsis (MVS). While current deep MVS methods achieve impressive results, they crucially rely on ground-truth 3D training data, and acquisition of such precise 3D geometry for…

Learning-based visual odometry and SLAM methods demonstrate a steady improvement over past years. However, collecting ground truth poses to train these methods is difficult and expensive. This could be resolved by training in an…

This paper fosters the idea that deep learning methods can be used to complement classical visual odometry pipelines to improve their accuracy and to associate uncertainty models to their estimations. We show that the biases inherent to the…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…

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…

Estimating 3D scene flow from a sequence of monocular images has been gaining increased attention due to the simple, economical capture setup. Owing to the severe ill-posedness of the problem, the accuracy of current methods has been…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic…

We present a novel self-supervised algorithm named MotionHint for monocular visual odometry (VO) that takes motion constraints into account. A key aspect of our approach is to use an appropriate motion model that can help existing…