相关论文: Generalizing to the Open World: Deep Visual Odomet…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

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…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Odometry is of key importance for localization in the absence of a map. There is considerable work in the area of visual odometry (VO), and recent advances in deep learning have brought novel approaches to VO, which directly learn salient…

Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…

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…

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…

Existing unsupervised visual odometry (VO) methods either match pairwise images or integrate the temporal information using recurrent neural networks over a long sequence of images. They are either not accurate, time-consuming in training…

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

This paper overviews different pose representations and metric functions in visual odometry (VO) networks. The performance of VO networks heavily relies on how their architecture encodes the information. The choice of pose representation…

Although depth extraction with passive sensors has seen remarkable improvement with deep learning, these approaches may fail to obtain correct depth if they are exposed to environments not observed during training. Online adaptation, where…

We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods that completely replace a classical visual estimator with a…

Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However,…

This paper studies monocular visual odometry (VO) problem. Most of existing VO algorithms are developed under a standard pipeline including feature extraction, feature matching, motion estimation, local optimisation, etc. Although some of…

Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…