相关论文: Pixel-Wise Prediction based Visual Odometry via Un…

We propose the MAC-VO, a novel learning-based stereo VO that leverages the learned metrics-aware matching uncertainty for dual purposes: selecting keypoint and weighing the residual in pose graph optimization. Compared to traditional…

Visual Odometry (VO) is fundamental to autonomous navigation, robotics, and augmented reality, with unsupervised approaches eliminating the need for expensive ground-truth labels. However, these methods struggle when dynamic objects violate…

Medical image segmentation is a challenging task, particularly due to inter- and intra-observer variability, even between medical experts. In this paper, we propose a novel model, called Probabilistic Inter-Observer and iNtra-Observer…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

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…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Today, Convolutional Neural Networks (CNNs) are the leading method for image denoising. They are traditionally trained on pairs of images, which are often hard to obtain for practical applications. This motivates self-supervised training…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

Odometry is of key importance for localization in the absence of a map. There is considerable work in the area of visual odometry (VO), and recent advances in deep learning have brought novel approaches to VO, which directly learn salient…

Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…

The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map…

In recent years, deep neural networks have defined the state-of-the-art in semantic segmentation where their predictions are constrained to a predefined set of semantic classes. They are to be deployed in applications such as automated…

Visual Odometry (VO) is a method to estimate self-motion of a mobile robot using visual sensors. Unlike odometry based on integrating differential measurements that can accumulate errors, such as inertial sensors or wheel encoders, visual…

Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…

Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…

Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image…

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…