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

In many machine learning applications, from medical diagnostics to autonomous driving, the availability of prior knowledge can be used to improve the predictive performance of learning algorithms and incorporate `physical,' `domain…

Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nevertheless, existing methods either heavily rely on known…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Convolutional neural networks (CNN) have led to many state-of-the-art results spanning through various fields. However, a clear and profound theoretical understanding of the forward pass, the core algorithm of CNN, is still lacking. In…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

Imaging through scattering is an important, yet challenging problem. Tremendous progress has been made by exploiting the deterministic input-output "transmission matrix" for a fixed medium. However, this "one-to-one" mapping is highly…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

Deep Convolutional Neural Networks (CNN) have exhibited superior performance in many visual recognition tasks including image classification, object detection, and scene label- ing, due to their large learning capacity and resistance to…

In response to the global COVID-19 pandemic, there has been a critical demand for protective measures, with face masks emerging as a primary safeguard. The approach involves a two-fold strategy: first, recognizing the presence of a face by…

Classical monocular vSLAM/VO methods suffer from the scale ambiguity problem. Hybrid approaches solve this problem by adding deep learning methods, for example by using depth maps which are predicted by a CNN. We suggest that it is better…

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

We present SLAM-Former, a novel neural approach that integrates full SLAM capabilities into a single transformer. Similar to traditional SLAM systems, SLAM-Former comprises both a frontend and a backend that operate in tandem. The frontend…

Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map…