相关论文: Deep Depth Estimation from Visual-Inertial SLAM

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

In this paper, we address the problem of estimating dense depth from a sequence of images using deep neural networks. Specifically, we employ a dense-optical-flow network to compute correspondences and then triangulate the point cloud to…

The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

Depth completion aims to recover dense depth maps from sparse depth measurements. It is of increasing importance for autonomous driving and draws increasing attention from the vision community. Most of existing methods directly train a…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Depth completion is an important vision task, and many efforts have been made to enhance the quality of depth maps from sparse depth measurements. Despite significant advances, training these models to recover dense depth from sparse…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given…

Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…

We present a deep learning system to infer the posterior distribution of a dense depth map associated with an image, by exploiting sparse range measurements, for instance from a lidar. While the lidar may provide a depth value for a small…

Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense monocular reconstruction. We propose…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…