相关论文: DSOL: A Fast Direct Sparse Odometry Scheme

We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe…

It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Real-time high-accuracy optical flow estimation is critical for a variety of real-world robotic applications. However, current learning-based methods often struggle to balance accuracy and computational efficiency: methods that achieve high…

3D Gaussian Splatting (3DGS) has emerged as promising alternative in 3D representation. However, it still suffers from high training cost. This paper introduces LiteGS, a high performance framework that systematically optimizes the 3DGS…

Diffusion models (DMs) have shown promising results on single-image super-resolution and other image-to-image translation tasks. Benefiting from more computational resources and longer inference times, they are able to yield more realistic…

In surveillance and search and rescue applications, it is important to perform multi-target tracking (MOT) in real-time on low-end devices. Today's MOT solutions employ deep neural networks, which tend to have high computation complexity.…

We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of video, recorded across dozens of different environments --…

Tracking dense 3D motion from monocular videos remains challenging, particularly when aiming for pixel-level precision over long sequences. We introduce DELTA, a novel method that efficiently tracks every pixel in 3D space, enabling…

In this paper, we present a dynamically reconfigurable hardware accelerator called FADES (Fused Architecture for DEnse and Sparse matrices). The FADES design offers multiple configuration options that trade off parallelism and complexity…

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…

Driven by the ever-increasing requirements of autonomous vehicles, such as traffic monitoring and driving assistant, deep learning-based object detection (DL-OD) has been increasingly attractive in intelligent transportation systems.…

Pillar-based 3D object detection has gained traction in self-driving technology due to its speed and accuracy facilitated by the artificial densification of pillars for GPU-friendly processing. However, dense pillar processing fundamentally…

This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-wave radars can `see' through dust, falling snow, rain, etc.…

In this work, we are concerned with the diffusive optical tomography (DOT) problem in the case when only one or two pairs of Cauchy data is available. We propose a simple and efficient direct sampling method (DSM) to locate inhomogeneities…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

This paper presents a novel algorithm named Direct Simultaneous Registration (DSR) that registers a collection of 3D images in a simultaneous fashion without specifying any reference image, feature extraction and matching, or information…

The emergence of 3D Gaussian Splatting (3DGS) has recently ignited a renewed wave of research in dense visual SLAM. However, existing approaches encounter challenges, including sensitivity to artifacts and noise, suboptimal selection of…

3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we…

Diffusion models have demonstrated promising performance in real-world video super-resolution (VSR). However, the dozens of sampling steps they require, make inference extremely slow. Sampling acceleration techniques, particularly…