相关论文: DD-VNB: A Depth-based Dual-Loop Framework for Real…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

We present a system for keyframe-based dense camera tracking and depth map estimation that is entirely learned. For tracking, we estimate small pose increments between the current camera image and a synthetic viewpoint. This significantly…

This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for…

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…

Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique,…

Linear measurements of the left ventricle (LV) in the Parasternal Long Axis (PLAX) view using B-mode echocardiography are crucial for cardiac assessment. These involve placing 4-6 landmarks along a virtual scanline (SL) perpendicular to the…

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…

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…

Accurate tissue motion tracking is critical to ensure treatment outcome and safety in 2D-Cine MRI-guided radiotherapy. This is typically achieved by registration of sequential images, but existing methods often face challenges with large…

This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

Vision-based depth reconstruction is a challenging problem extensively studied in computer vision but still lacking universal solution. Reconstructing depth from single image is particularly valuable to mobile robotics as it can be embedded…

This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic dataset of ship images is created and annotated with 2D…

Performing a real-time and accurate instrument segmentation from videos is of great significance for improving the performance of robotic-assisted surgery. We identify two important clues for surgical instrument perception, including local…

Recently there has been an increasing trend to use deep learning frameworks for both 2D consumer images and for 3D medical images. However, there has been little effort to use deep frameworks for volumetric vascular segmentation. We wanted…

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…

Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…

Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…