相关论文: Constrained Visual-Inertial Localization With Appl…

Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…

The scarcity of labeled data often impedes the application of deep learning to the segmentation of medical images. Semi-supervised learning seeks to overcome this limitation by exploiting unlabeled examples in the learning process. In this…

This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…

We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…

We propose a novel method, the adaptive local window, for improving level set segmentation technique. The window is estimated separately for each contour point, over iterations of the segmentation process, and for each individual object.…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…

MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…

In the field of computer- and robot-assisted minimally invasive surgery, enormous progress has been made in recent years based on the recognition of surgical instruments in endoscopic images and videos. In particular, the determination of…

We present a novel embedding approach for video instance segmentation. Our method learns a spatio-temporal embedding integrating cues from appearance, motion, and geometry; a 3D causal convolutional network models motion, and a monocular…

We present a new instance segmentation approach tailored to biological images, where instances may correspond to individual cells, organisms or plant parts. Unlike instance segmentation for user photographs or road scenes, in biological…

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution…

Surgical action localization is a challenging computer vision problem. While it has promising applications including automated training of surgery procedures, surgical workflow optimization, etc., appropriate model design is pivotal to…

Dealing with missing modalities in Magnetic Resonance Imaging (MRI) and overcoming their negative repercussions is considered a hurdle in biomedical imaging. The combination of a specified set of modalities, which is selected depending on…

We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…

We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…

In this paper we address smoothing-that is, optimisation-based-estimation techniques for localisation problems in the case where motion sensors are very accurate. Our mathematical analysis focuses on the difficult limit case where motion…

Visual-Inertial Odometry (VIO) utilizes an Inertial Measurement Unit (IMU) to overcome the limitations of Visual Odometry (VO). However, the VIO for vehicles in large-scale outdoor environments still has some difficulties in estimating…

While content-based image retrieval (CBIR) has been extensively studied in natural image retrieval, its application to medical images presents ongoing challenges, primarily due to the 3D nature of medical images. Recent studies have shown…