相关论文: The Drunkard's Odometry: Estimating Camera Motion …
Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the solution space. For example, one pixel in the first frame might…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems for aquatic environments have garnered significant attention…
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…
Considering the scene's dynamics is the most effective solution to obtain an accurate perception of unknown environments for real vSLAM applications. Most existing methods attempt to address the non-rigid scene assumption by combining…
3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe…
We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
Event cameras are emerging vision sensors whose noise is challenging to characterize. Existing denoising methods for event cameras are often designed in isolation and thus consider other tasks, such as motion estimation, separately (i.e.,…
Structural damage detection using non-contact sensing remains a challenging problem in structural health monitoring. This study presents a data-driven framework based on Dynamic Mode Decomposition (DMD) for extracting structural dynamics…
Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…
The SCARED dataset is a widely used benchmark for endoscopic depth estimation, offering ground-truth 3D reconstructions captured with a structured light sensor. However, the depth maps for non-keyframe images rely on robot kinematics that…
The interaction of multiple fluids through a heterogeneous pore space leads to complex pore-scale flow dynamics, such as intermittent pathway flow. The non-local nature of these dynamics, and the size of the 4D datasets acquired to capture…
Recent advances in 3D Gaussian Splatting (3DGS) have achieved state-of-the-art results for novel view synthesis. However, efficiently capturing high-fidelity reconstructions of specific objects within complex scenes remains a significant…
Drag-based editing allows precise object manipulation through point-based control, offering user convenience. However, current methods often suffer from a geometric inconsistency problem by focusing exclusively on matching user-defined…
Estimating the geometric and volumetric properties of transparent deformable liquids is challenging due to optical complexities and dynamic surface deformations induced by container movements. Autonomous robots performing precise liquid…
The estimation of 3D human motion from video has progressed rapidly but current methods still have several key limitations. First, most methods estimate the human in camera coordinates. Second, prior work on estimating humans in global…