相关论文: On Designing Consistent Covariance Recovery from a…

The fusion of raw sensor data to create a Bird's Eye View (BEV) representation is critical for autonomous vehicle planning and control. Despite the growing interest in using deep learning models for BEV semantic segmentation, anticipating…

Machine learning methods for computational imaging require uncertainty estimation to be reliable in real settings. While Bayesian models offer a computationally tractable way of recovering uncertainty, they need large data volumes to be…

Deep-learning based segmentation model is proposed for Optical Coherence Tomography images of human varicose vein based on the U-Net model employing atrous convolution with residual blocks, which gives an accuracy of 0.9932.

Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However,…

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

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…

This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…

Automated optic disc (OD) and optic cup (OC) segmentation in fundus images is relevant to efficiently measure the vertical cup-to-disc ratio (vCDR), a biomarker commonly used in ophthalmology to determine the degree of glaucomatous optic…

The precision of contouring target structures and organs-at-risk (OAR) in radiotherapy planning is crucial for ensuring treatment efficacy and patient safety. Recent advancements in deep learning (DL) have significantly improved OAR…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Robust and reliable covariance estimates play a decisive role in financial and many other applications. An important class of estimators is based on Factor models. Here, we show by extensive Monte Carlo simulations that covariance matrices…

Facial expressions recognition (FER) of 3D face scans has received a significant amount of attention in recent years. Most of the facial expression recognition methods have been proposed using mainly 2D images. These methods suffer from…