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

We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…

In recent years, deep learning based visual tracking methods have obtained great success owing to the powerful feature representation ability of Convolutional Neural Networks (CNNs). Among these methods, classification-based tracking…

This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…

We propose a self-supervised learning framework for visual odometry (VO) that incorporates correlation of consecutive frames and takes advantage of adversarial learning. Previous methods tackle self-supervised VO as a local structure from…

The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

Adverse weather conditions including haze, snow and rain lead to decline in image qualities, which often causes a decline in performance for deep-learning based detection networks. Most existing approaches attempts to rectify hazy images…

Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

For autonomous vehicles (AVs), visual perception techniques based on sensors like cameras play crucial roles in information acquisition and processing. In various computer perception tasks for AVs, it may be helpful to match landmark…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…

In this paper, we develop a robust, efficient visual SLAM system that utilizes spatial inhibition of low threshold, baseline lines, and closed-loop keyframe features. Using ORB-SLAM2, our methods include stereo matching, frame tracking,…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Estimating depth from RGB images is a long-standing ill-posed problem, which has been explored for decades by the computer vision, graphics, and machine learning communities. Among the existing techniques, stereo matching remains one of the…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…