相关论文: Loss it right: Euclidean and Riemannian Metrics in…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…

Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…

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…

The retinal vessel network studied through fundus images contributes to the diagnosis of multiple diseases not only found in the eye. The segmentation of this system may help the specialized task of analyzing these images by assisting in…

This work proposes a novel deep network architecture to solve the camera Ego-Motion estimation problem. A motion estimation network generally learns features similar to Optical Flow (OF) fields starting from sequences of images. This OF can…

Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…

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…

One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…

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…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…

We propose the MAC-VO, a novel learning-based stereo VO that leverages the learned metrics-aware matching uncertainty for dual purposes: selecting keypoint and weighing the residual in pose graph optimization. Compared to traditional…

Deep metric learning techniques have been used for visual representation in various supervised and unsupervised learning tasks through learning embeddings of samples with deep networks. However, classic approaches, which employ a fixed…