相关论文: XVO: Generalized Visual Odometry via Cross-Modal S…

Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic…

In this paper, we show how to use audio to supervise the learning of active speaker detection in video. Voice Activity Detection (VAD) guides the learning of the vision-based classifier in a weakly supervised manner. The classifier uses…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

We present ClusterVO, a stereo Visual Odometry which simultaneously clusters and estimates the motion of both ego and surrounding rigid clusters/objects. Unlike previous solutions relying on batch input or imposing priors on scene structure…

In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above,…

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…

Multimodal learning models have become increasingly important as they surpass single-modality approaches on diverse tasks ranging from question-answering to autonomous driving. Despite the importance of multimodal learning, existing efforts…

Despite impressive performance for high-level downstream tasks, self-supervised pre-training methods have not yet fully delivered on dense geometric vision tasks such as stereo matching or optical flow. The application of self-supervised…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…

In this work, we propose a novel deep online correction (DOC) framework for monocular visual odometry. The whole pipeline has two stages: First, depth maps and initial poses are obtained from convolutional neural networks (CNNs) trained in…

We study joint learning of Convolutional Neural Network (CNN) and Transformer for vision-language pre-training (VLPT) which aims to learn cross-modal alignments from millions of image-text pairs. State-of-the-art approaches extract salient…

We propose a general framework for self-supervised learning of transferable visual representations based on Video-Induced Visual Invariances (VIVI). We consider the implicit hierarchy present in the videos and make use of (i) frame-level…

Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image…

Breakthroughs in visual odometry (VO) have fundamentally reshaped the landscape of robotics, enabling ultra-precise camera state estimation that is crucial for modern autonomous systems. Despite these advances, many learning-based VO…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Recent state-of-the-art semi-supervised Video Object Segmentation (VOS) methods have shown significant improvements in target object segmentation accuracy when information from preceding frames is used in segmenting the current frame. In…

Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…

Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…

In this paper, we propose a novel method, X-Distill, to improve the self-supervised training of monocular depth via cross-task knowledge distillation from semantic segmentation to depth estimation. More specifically, during training, we…