相关论文: Expansion of Visual Hints for Improved Generalizat…

It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

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…

Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learning-integrated odometry framework that fuses underwater image…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…

Dynamic stereo matching is the task of estimating consistent disparities from stereo videos with dynamic objects. Recent learning-based methods prioritize optimal performance on a single stereo pair, resulting in temporal inconsistencies.…

Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

Recently, generalizable human Gaussian splatting from sparse-view inputs has been actively studied for the photorealistic human rendering. Most existing methods rely on explicit geometric constraints or predefined structural representations…

In the last decade, numerous supervised deep learning approaches requiring large amounts of labeled data have been proposed for visual-inertial odometry (VIO) and depth map estimation. To overcome the data limitation, self-supervised…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

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…

PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in the literature. This paper presents a novel GPS-VIO system…

Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these approaches also combine other sensors (inertial sensing, for…

This paper fosters the idea that deep learning methods can be used to complement classical visual odometry pipelines to improve their accuracy and to associate uncertainty models to their estimations. We show that the biases inherent to the…

Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…