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

We propose a novel pose estimation method for geometric vision of omni-directional cameras. On the basis of the regularity of the pixel movement after camera pose changes, we formulate and prove the sinusoidal relationship between pixels…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…

Mainstream Visual-inertial odometry (VIO) systems rely on point features for motion estimation and localization. However, their performance degrades in challenging scenarios. Moreover, the localization accuracy of multi-state constraint…

Information inside visual and LiDAR data is well complementary derived from the fine-grained texture of images and massive geometric information in point clouds. However, it remains challenging to explore effective visual-LiDAR fusion,…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…

Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…

Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these algorithms have predominantly been validated in open outdoor…

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO…

Omnidirectional videos that capture the entire surroundings are employed in a variety of fields such as VR applications and remote sensing. However, their wide field of view often causes unwanted objects to appear in the videos. This…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

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…

We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement errors in a combined energy functional. The visual part of the…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration…

We propose a dense indirect visual odometry method taking as input externally estimated optical flow fields instead of hand-crafted feature correspondences. We define our problem as a probabilistic model and develop a generalized-EM…

The growing interest in omnidirectional videos (ODVs) that capture the full field-of-view (FOV) has gained 360-degree saliency prediction importance in computer vision. However, predicting where humans look in 360-degree scenes presents…

Unmanned aerial vehicles serve as primary sensing platforms for surveillance, traffic monitoring, and disaster response, making aerial object detection a central problem in applied computer vision. Current detectors struggle with…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…