相关论文: IMU-Aided Event-based Stereo Visual Odometry

In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…

Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…

Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes in microsecond accuracy with a high dynamic range and low power consumption. Despite these advantages, event cameras cannot be directly applied to…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

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…

The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

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;…

This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

Multi-spectral sensors consisting of a standard (visible-light) camera and a long-wave infrared camera can simultaneously provide both visible and thermal images. Since thermal images are independent from environmental illumination, they…

Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…

Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…