相关论文: Deep Online Correction for Monocular Visual Odomet…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

Wedemonstratedeep-learningneuralnetwork(NN)-baseddynamicopticalcoherence tomography (DOCT), which generates high-quality logarithmic-intensity-variance (LIV) DOCT images from only four OCT frames. The NN model is trained for tumor spheroid…

We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

We develop a novel deep learning technique, termed Deep Orthogonal Decomposition (DOD), for dimensionality reduction and reduced order modeling of parameter dependent partial differential equations. The approach consists in the construction…

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale…

Although deep convolution neural networks (DCNN) have achieved excellent performance in human pose estimation, these networks often have a large number of parameters and computations, leading to the slow inference speed. For this issue, an…

Automatic motion compensation and adjustment of an intraoperative imaging modality's field of view is a common problem during interventions. Optical coherence tomography (OCT) is an imaging modality which is used in interventions due to its…

Recent RGB-guided depth super-resolution methods have achieved impressive performance under the assumption of fixed and known degradation (e.g., bicubic downsampling). However, in real-world scenarios, captured depth data often suffer from…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…

Precise sensing and control of spatial mode content is essential for the performance of precision optical systems, particularly interferometric gravitational-wave detectors, where misalignment and mode mismatch can lead to significant…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

Occlusion and the scarcity of labeled surgical data are significant challenges in disparity estimation for stereo laparoscopic images. To address these issues, this study proposes a Depth Guided Occlusion-Aware Disparity Refinement Network…