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

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

The visual inspection of aerial drone footage is an integral part of land search and rescue (SAR) operations today. Since this inspection is a slow, tedious and error-prone job for humans, we propose a novel deep learning algorithm to…

Augmented Reality has been subject to various integration efforts within industries due to its ability to enhance human machine interaction and understanding. Neural networks have achieved remarkable results in areas of computer vision,…

Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

We demonstrate a novel deep neural network capable of reconstructing human full body pose in real-time from 6 Inertial Measurement Units (IMUs) worn on the user's body. In doing so, we address several difficult challenges. First, the…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images.…

Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

Traditional visual place recognition (VPR), usually using standard cameras, is easy to fail due to glare or high-speed motion. By contrast, event cameras have the advantages of low latency, high temporal resolution, and high dynamic range,…

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…