相关论文: VOLDOR: Visual Odometry from Log-logistic Dense Op…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

Optical flow is a fundamental technique for motion estimation, widely applied in video stabilization, interpolation, and object tracking. Traditional optical flow estimation methods rely on restrictive assumptions like brightness constancy…

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…

Recently, Google proposes DDVM which for the first time demonstrates that a general diffusion model for image-to-image translation task works impressively well on optical flow estimation task without any specific designs like RAFT. However,…

Visual Inertial Odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional Inertial Measurement Unit (IMU) measurements. A crucial subtask within VIO is the tracking of…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

We propose a fluid-based registration framework of medical images based on implicit neural representation. By integrating implicit neural representation and Large Deformable Diffeomorphic Metric Mapping (LDDMM), we employ a Multilayer…

Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

Most previous learning-based visual odometry (VO) methods take VO as a pure tracking problem. In contrast, we present a VO framework by incorporating two additional components called Memory and Refining. The Memory component preserves…

Optical flow estimation is very challenging in situations with transparent or occluded objects. In this work, we address these challenges at the task level by introducing Amodal Optical Flow, which integrates optical flow with amodal…

Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…

With the advent of neuromorphic vision sensors such as event-based cameras, a paradigm shift is required for most computer vision algorithms. Among these algorithms, optical flow estimation is a prime candidate for this process considering…

Visual Odometry (VO) is a method to estimate self-motion of a mobile robot using visual sensors. Unlike odometry based on integrating differential measurements that can accumulate errors, such as inertial sensors or wheel encoders, visual…

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…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

In the domain of computer vision, optical flow stands as a cornerstone for unraveling dynamic visual scenes. However, the challenge of accurately estimating optical flow under conditions of large nonlinear motion patterns remains an open…