相关论文: MotionHint: Self-Supervised Monocular Visual Odome…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

Unsupervised monocular depth learning generally relies on the photometric relation among temporally adjacent images. Most of previous works use both mean absolute error (MAE) and structure similarity index measure (SSIM) with conventional…

Inspired by the tremendous success of the self-attention mechanism in natural language processing, the Vision Transformer (ViT) creatively applies it to image patch sequences and achieves incredible performance. However, the scaled…

Deep visual odometry, despite extensive research, still faces limitations in accuracy and generalizability that prevent its broader application. To address these challenges, we propose an Oriented FAST and Rotated BRIEF (ORB)-guided visual…

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

As a flexible passive 3D sensing means, unsupervised learning of depth from monocular videos is becoming an important research topic. It utilizes the photometric errors between the target view and the synthesized views from its adjacent…

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…

We propose a self-supervised learning framework for visual odometry (VO) that incorporates correlation of consecutive frames and takes advantage of adversarial learning. Previous methods tackle self-supervised VO as a local structure from…

Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…

Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…

Mobile vision transformers (MobileViT) can achieve state-of-the-art performance across several mobile vision tasks, including classification and detection. Though these models have fewer parameters, they have high latency as compared to…

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner. Recent approaches to single view depth estimation explore the…

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…