相关论文: A Front-End for Dense Monocular SLAM using a Learn…

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…

We present a robust visual-inertial SLAM system that combines the benefits of Convolutional Neural Networks (CNNs) and planar constraints. Our system leverages a CNN to predict the depth map and the corresponding uncertainty map for each…

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…

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…

Medical endoscopy remains a challenging application for simultaneous localization and mapping (SLAM) due to the sparsity of image features and size constraints that prevent direct depth-sensing. We present a SLAM approach that incorporates…

Most dense recognition approaches bring a separate decision in each particular pixel. These approaches deliver competitive performance in usual closed-set setups. However, important applications in the wild typically require strong…

Visual SLAM (Simultaneous Localization and Mapping) methods typically rely on handcrafted visual features or raw RGB values for establishing correspondences between images. These features, while suitable for sparse mapping, often lead to…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

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.…

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…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…

Seven million people suffer surgical complications each year, but with sufficient surgical training and review, 50\% of these complications could be prevented. To improve surgical performance, existing research uses various deep learning…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…

We present a method to automatically learn to segment dynamic objects using SLAM outliers. It requires only one monocular sequence per dynamic object for training and consists in localizing dynamic objects using SLAM outliers, creating…

While conventional depth estimation can infer the geometry of a scene from a single RGB image, it fails to estimate scene regions that are occluded by foreground objects. This limits the use of depth prediction in augmented and virtual…

We present a simple and effective deep convolutional neural network (CNN) model for video deblurring. The proposed algorithm mainly consists of optical flow estimation from intermediate latent frames and latent frame restoration steps. It…

The advancement of dense visual simultaneous localization and mapping (SLAM) has been greatly facilitated by the emergence of neural implicit representations. Neural implicit encoding SLAM, a typical example of which is NICE-SLAM, has…

We propose Unblur-SLAM, a novel RGB SLAM pipeline for sharp 3D reconstruction from blurred image inputs. In contrast to previous work, our approach is able to handle different types of blur and demonstrates state-of-the-art performance in…