相关论文: BronchoPose: an analysis of data and model configu…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

We introduce a new benchmark designed to advance the development of general-purpose, large-scale vision-language models for remote sensing images. Although several vision-language datasets in remote sensing have been proposed to pursue this…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…

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…

3D hand pose estimation based on RGB images has been studied for a long time. Most of the studies, however, have performed frame-by-frame estimation based on independent static images. In this paper, we attempt to not only consider the…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

3D human pose estimation in multi-view operating room (OR) videos is a relevant asset for person tracking and action recognition. However, the surgical environment makes it challenging to find poses due to sterile clothing, frequent…

The complex multi-stage architecture of cortical visual pathways provides the neural basis for efficient visual object recognition in humans. However, the stage-wise computations therein remain poorly understood. Here, we compared temporal…

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…

With lung cancer being the most fatal cancer worldwide, it is important to detect the disease early. A potentially effective way of detecting early cancer lesions developing along the airway walls (epithelium) is bronchoscopy. To this end,…

Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…

Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…