相关论文: DeepSeqSLAM: A Trainable CNN+RNN for Joint Global …

Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…

Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…

In robotics, Visual Place Recognition is a continuous process that receives as input a video stream to produce a hypothesis of the robot's current position within a map of known places. This task requires robust, scalable, and efficient…

This paper investigates the application of the latest machine learning technique deep neural networks for classifying road surface conditions (RSC) based on images from smartphones. Traditional machine learning techniques such as support…

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…

The ability of accurate depth prediction by a convolutional neural network (CNN) is a major challenge for its wide use in practical visual simultaneous localization and mapping (SLAM) applications, such as enhanced camera tracking and dense…

Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…

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.…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

The Convolution Neural Network (CNN) has demonstrated the unique advantage in audio, image and text learning; recently it has also challenged Recurrent Neural Networks (RNNs) with long short-term memory cells (LSTM) in sequence-to-sequence…

Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recog- nition applications to outperform by a significant margin state- of-the-art solutions that use traditional hand-crafted features.…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Deep convolutional neural networks (CNNs) have greatly improved the Face Recognition (FR) performance in recent years. Almost all CNNs in FR are trained on the carefully labeled datasets containing plenty of identities. However, such…

Visually recognising a traversed route - regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter - is an important capability for navigating robots. Since SeqSLAM was introduced in 2012,…

This paper presents an innovative deep learning pipeline which estimates the relative pose of a spacecraft by incorporating the temporal information from a rendezvous sequence. It leverages the performance of long short-term memory (LSTM)…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…