相关论文: Benchmarking Visual-Inertial Deep Multimodal Fusio…

We propose a self-supervised learning framework for visual odometry (VO) that incorporates correlation of consecutive frames and takes advantage of adversarial learning. Previous methods tackle self-supervised VO as a local structure from…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…

We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…

Visual Place Recognition (VPR) enables robust localization through image retrieval based on learned descriptors. However, drastic appearance variations of images at the same place caused by viewpoint changes can lead to inconsistent…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

Mobile robots and autonomous vehicles are often required to function in environments where critical position estimates from sensors such as GPS become uncertain or unreliable. Single image visual place recognition (VPR) provides an…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

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…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…

In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT\&R) accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing…

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…