相关论文: CNN-Augmented Visual-Inertial SLAM with Planar Con…

In this work we describe a Convolutional Neural Network (CNN) to accurately predict the scene illumination. Taking image patches as input, the CNN works in the spatial domain without using hand-crafted features that are employed by most…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle…

In this paper, we propose a novel deep neural network framework embedded with low-level features (LCNN) for salient object detection in complex images. We utilise the advantage of convolutional neural networks to automatically learn the…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

In this paper, we propose panoramic annular simultaneous localization and mapping (PA-SLAM), a visual SLAM system based on panoramic annular lens. A hybrid point selection strategy is put forward in the tracking front-end, which ensures…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

In the field of visual ego-motion estimation for Micro Air Vehicles (MAVs), fast maneuvers stay challenging mainly because of the big visual disparity and motion blur. In the pursuit of higher robustness, we study convolutional neural…

Convolutional neural networks (CNNs) are commonly used for image classification. Saliency methods are examples of approaches that can be used to interpret CNNs post hoc, identifying the most relevant pixels for a prediction following the…

Convolutional Neural Network (CNN) have been widely used in image classification. Over the years, they have also benefited from various enhancements and they are now considered as state of the art techniques for image like data. However,…

Visual saliency is a fundamental problem in both cognitive and computational sciences, including computer vision. In this CVPR 2015 paper, we discover that a high-quality visual saliency model can be trained with multiscale features…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…

In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…

Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, previous works in this direction either rely on RGB-D sensors, or require a separate…

The convolutional neural network (CNN) features can give a good description of image content, which usually represent images with unique global vectors. Although they are compact compared to local descriptors, they still cannot efficiently…

This paper proposes a deep neural architecture, PlaneRCNN, that detects and reconstructs piecewise planar surfaces from a single RGB image. PlaneRCNN employs a variant of Mask R-CNN to detect planes with their plane parameters and…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

We propose an object detection system that relies on a multi-region deep convolutional neural network (CNN) that also encodes semantic segmentation-aware features. The resulting CNN-based representation aims at capturing a diverse set of…

The convolutional neural network (CNN) has become a powerful tool for various biomedical image analysis tasks, but there is a lack of visual explanation for the machinery of CNNs. In this paper, we present a novel algorithm,…