相关论文: Stereo Visual Odometry with Deep Learning-Based Po…

This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…

Safe autonomous driving requires reliable 3D object detection-determining the 6 DoF pose and dimensions of objects of interest. Using stereo cameras to solve this task is a cost-effective alternative to the widely used LiDAR sensor. The…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Feature-based visual structure and motion reconstruction pipelines, common in visual odometry and large-scale reconstruction from photos, use the location of corresponding features in different images to determine the 3D structure of the…

In this paper we propose a novel sparse optical flow (SOF)-based line feature tracking method for the camera pose estimation problem. This method is inspired by the point-based SOF algorithm and developed based on an observation that two…

Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…

Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing performance (accuracy & robustness) and efficiency (latency). Feature-based systems exhibit good performance, yet have higher latency due to explicit data association;…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…

Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…

Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT\&R) accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing…

Accurate classification of weather conditions in images is essential for enhancing the performance of object detection and classification models under varying weather conditions. This paper presents a comprehensive study on classifying…

In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration…

Deep learning has made significant impacts on multi-view stereo systems. State-of-the-art approaches typically involve building a cost volume, followed by multiple 3D convolution operations to recover the input image's pixel-wise depth.…

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,…

Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…

Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…