相关论文: Exploring Self-Attention for Visual Odometry

Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…

Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…

Object detection from Unmanned Aerial Vehicles (UAVs) is challenged by severe ego-motion, camera jitter, and large scale variations. While modern detectors perform well on static images, their direct application to UAV video often fails,…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

Recently, Vision Transformer and its variants have shown great promise on various computer vision tasks. The ability of capturing short- and long-range visual dependencies through self-attention is arguably the main source for the success.…

Event-cameras have emerged as a revolutionary technology with a high temporal resolution that far surpasses standard active pixel cameras. This technology draws biological inspiration from photoreceptors and the initial retinal synapse.…

Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…

In this thesis we address two related aspects of visual object recognition: the use of motion information, and the use of internal supervision, to help unsupervised learning. These two aspects are inter-related in the current study, since…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

Visual recognition has been dominated by convolutional neural networks (CNNs) for years. Though recently the prevailing vision transformers (ViTs) have shown great potential of self-attention based models in ImageNet classification, their…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

The goal of this paper is to discover, segment, and track independently moving objects in complex visual scenes. Previous approaches have explored the use of optical flow for motion segmentation, leading to imperfect predictions due to…

The ability to make educated predictions about their surroundings, and associate them with certain confidence, is important for intelligent systems, like autonomous vehicles and robots. It allows them to plan early and decide accordingly.…

Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leading to ambiguous association and under-constrained…

In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are…