相关论文: Brain-Inspired Visual Odometry: Balancing Speed an…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

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…

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…

Navigation in the natural world is a feat of adaptive inference, where biological organisms maintain goal-directed behaviour despite noisy and incomplete sensory streams. Central to this ability is the Free Energy Principle (FEP), which…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

Unsupervised Learning based monocular visual odometry (VO) has lately drawn significant attention for its potential in label-free leaning ability and robustness to camera parameters and environmental variations. However, partially due to…

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

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…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…

We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation…

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

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…

Deep visual odometry, despite extensive research, still faces limitations in accuracy and generalizability that prevent its broader application. To address these challenges, we propose an Oriented FAST and Rotated BRIEF (ORB)-guided visual…

The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…