相关论文: LF-PGVIO: A Visual-Inertial-Odometry Framework for…

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

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…

We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…

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…

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…

Visual odometry is important for plenty of applications such as autonomous vehicles, and robot navigation. It is challenging to conduct visual odometry in textureless scenes or environments with sudden illumination changes where popular…

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…

Omnidirectional 360{\deg} camera proliferates rapidly for autonomous robots since it significantly enhances the perception ability by widening the field of view(FoV). However, corresponding 360{\deg} depth sensors, which are also critical…

In this paper, we propose a probabilistic continuous-time visual-inertial odometry (VIO) for rolling shutter cameras. The continuous-time trajectory formulation naturally facilitates the fusion of asynchronized high-frequency IMU data and…

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…

A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to…

Omnidirectional cameras are extensively used in various applications to provide a wide field of vision. However, they face a challenge in synthesizing novel views due to the inevitable presence of dynamic objects, including the…

360{\deg} omnidirectional images have gained research attention due to their immersive and interactive experience, particularly in AR/VR applications. However, they suffer from lower angular resolution due to being captured by fisheye…

Image segmentation is a fundamental task in computer vision aimed at delineating object boundaries within images. Traditional approaches, such as edge detection and variational methods, have been widely explored, while recent advances in…

Image-based salient object detection (ISOD) in 360{\deg} scenarios is significant for understanding and applying panoramic information. However, research on 360{\deg} ISOD has not been widely explored due to the lack of large, complex,…

Video Object Segmentation (VOS) aims to track and segment specific objects across entire video sequences, yet it remains highly challenging under complex real-world scenarios. The MOSEv1 and LVOS dataset, adopted in the MOSEv1 challenge on…

Omnidirectional images are increasingly used in robotics and vision due to their wide field of view. However, extending 3D Gaussian Splatting (3DGS) to panoramic camera models remains challenging, as existing formulations are designed for…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…