相关论文: Learning Generalized Visual Odometry Using Positio…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

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…

The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…

This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

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…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

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…

This paper addresses the challenge of improving learning-based monocular visual odometry (VO) in underwater environments by integrating principles of underwater optical imaging to manipulate optical flow estimation. Leveraging the inherent…

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

Deep learning-based, single-view depth estimation methods have recently shown highly promising results. However, such methods ignore one of the most important features for determining depth in the human vision system, which is motion. We…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

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…