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

This paper presents a novel general-purpose guided stereo paradigm that mimics the active stereo principle by replacing the unreliable physical pattern projector with a depth sensor. It works by projecting virtual patterns consistent with…

Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…

Stereo matching is crucial for binocular stereo vision. Existing methods mainly focus on simple disparity map fusion to improve stereo matching, which require multiple dense or sparse disparity maps. In this paper, we propose a simple yet…

Multi-view depth estimation plays a critical role in reconstructing and understanding the 3D world. Recent learning-based methods have made significant progress in it. However, multi-view depth estimation is fundamentally a…

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 autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an…

Many objects are naturally symmetric, and this symmetry can be exploited to infer unseen 3D properties from a single 2D image. Recently, NeRD is proposed for accurate 3D mirror plane estimation from a single image. Despite the unprecedented…

Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs). However,…

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…

We introduce algorithms to visualize feature spaces used by object detectors. The tools in this paper allow a human to put on `HOG goggles' and perceive the visual world as a HOG based object detector sees it. We found that these…

X-ray computed tomography is a powerful tool for volumetric imaging, but requires the collection of a large number of low-noise projection images, which is often too time consuming, limiting its applicability. In our previous work…

Algorithms for robotic visual search can benefit from the use of visual attention methods in order to reduce computational costs. Here, we describe how three distinct mechanisms of visual attention can be integrated and productively used to…

The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is…

Most previous works of outdoor instance segmentation for images only use color information. We explore a novel direction of sensor fusion to exploit stereo cameras. Geometric information from disparities helps separate overlapping objects…

Stereo rectification is the determination of two image transformations (or homographies) that map corresponding points on the two images, projections of the same point in the 3D space, onto the same horizontal line in the transformed…