相关论文: Accurate and Robust Scale Recovery for Monocular V…

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…

We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…

Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…

Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on…

We propose a margin-based loss for tuning joint vision-language models so that their gradient-based explanations are consistent with region-level annotations provided by humans for relatively smaller grounding datasets. We refer to this…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

Multi-view 3D reconstruction, namely, structure-from-motion followed by multi-view stereo, is a fundamental component of 3D computer vision. In general, multi-view 3D reconstruction suffers from an unknown scale ambiguity unless a reference…

Many problems in data science can be treated as estimating a low-rank matrix from highly incomplete, sometimes even corrupted, observations. One popular approach is to resort to matrix factorization, where the low-rank matrix factors are…

The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…

Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…

We improve a phase retrieval approach that uses correlation-based measurements with compactly supported measurement masks [27]. The improved algorithm admits deterministic measurement constructions together with a robust, fast recovery…

The low-rank matrix recovery problem seeks to reconstruct an unknown $n_1 \times n_2$ rank-$r$ matrix from $m$ linear measurements, where $m\ll n_1n_2$. This problem has been extensively studied over the past few decades, leading to a…

In this paper, we focus on the problem of feature learning in the presence of scale imbalance for 6-DoF grasp detection and propose a novel approach to especially address the difficulty in dealing with small-scale samples. A Multi-scale…

Crowd-sourced cooperative mapping from monocular cameras promises scalable 3D reconstruction without specialized sensors, yet remains hindered by two scale-specific failure modes: abrupt scale collapse from false-positive loop closures in…

A prior global topological map (e.g., the OpenStreetMap, OSM) can boost the performance of autonomous mapping by a ground mobile robot. However, the prior map is usually incomplete due to lacking labeling in partial paths. To solve this…

We propose a robust and efficient approach to the problem of compressive phase retrieval in which the goal is to reconstruct a sparse vector from the magnitude of a number of its linear measurements. The proposed framework relies on…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Our study introduces a novel, low-cost, and reproducible framework for real-time, object-level structural assessment and geolocation of roadside vegetation and infrastructure with commonly available but underutilized dashboard camera…

Monocular depth estimation aims to infer a dense depth map from a single image, which is a fundamental and prevalent task in computer vision. Many previous works have shown impressive depth estimation results through carefully designed…