相关论文: Visual Gyroscope: Combination of Deep Learning Fea…

Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…

A large field-of-view fisheye camera allows for capturing a large area with minimal numbers of cameras when they are mounted on a high position facing downwards. This top-view omnidirectional setup greatly reduces the work and cost for…

The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…

We present GazeOnce360, a novel end-to-end model for multi-person gaze estimation from a single tabletop-mounted upward-facing fisheye camera. Unlike conventional approaches that rely on forward-facing cameras in constrained viewpoints, we…

A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…

We propose a novel fine-grained cross-view localization method that estimates the 3 Degrees of Freedom pose of a ground-level image in an aerial image of the surroundings by matching fine-grained features between the two images. The pose is…

In this paper, we address the problem of wide-baseline camera pose estimation from a group of 360$^\circ$ panoramas under upright-camera assumption. Recent work has demonstrated the merit of deep-learning for end-to-end direct relative pose…

Low-cost gyroscope calibration is essential for ensuring the accuracy and reliability of gyroscope measurements. Stationary calibration estimates the deterministic parts of measurement errors. To this end, a common practice is to average…

Generating multiview-consistent $360^\circ$ ground-level scenes from satellite imagery is a challenging task with broad applications in simulation, autonomous navigation, and digital twin cities. Existing approaches primarily focus on…

Although fisheye cameras are in high demand in many application areas due to their large field of view, many image and video signal processing tasks such as motion compensation suffer from the introduced strong radial distortions. A…

This work introduces VISY-REVE: a novel pipeline to validate image processing algorithms for Vision-Based Navigation. Traditional validation methods such as synthetic rendering or robotic testbed acquisition suffer from difficult setup and…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

We present a deep neural network (DNN) that uses both sensor data (gyroscope) and image content (optical flow) to stabilize videos through unsupervised learning. The network fuses optical flow with real/virtual camera pose histories into a…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

This paper introduces a novel approach for image and video orientation estimation by leveraging depth distribution in natural images. The proposed method estimates the orientation based on the depth distribution across different quadrants…

Dual-fisheye lens cameras are becoming popular for 360-degree video capture, especially for User-generated content (UGC), since they are affordable and portable. Images generated by the dual-fisheye cameras have limited overlap and hence…