相关论文: Attenuation-Aware Weighted Optical Flow with Mediu…

State-of-the-art neural network models estimate large displacement optical flow in multi-resolution and use warping to propagate the estimation between two resolutions. Despite their impressive results, it is known that there are two…

This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…

Vision Transformers (ViTs) have demonstrated superior performance across a wide range of computer vision tasks. However, structured noise artifacts in their feature maps hinder downstream applications such as segmentation and depth…

In this paper, a novel weighted nonlocal total variation (WNTV) method is proposed. Compared to the classical nonlocal total variation methods, our method modifies the energy functional to introduce a weight to balance between the labeled…

We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…

In many applications, it is important to reconstruct a fluid flow field, or some other high-dimensional state, from limited measurements and limited data. In this work, we propose a shallow neural network-based learning methodology for such…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

Visual Odometry (VO) is fundamental to autonomous navigation, robotics, and augmented reality, with unsupervised approaches eliminating the need for expensive ground-truth labels. However, these methods struggle when dynamic objects violate…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

Accurately segmenting fluid in 3D optical coherence tomography (OCT) images is critical for detecting eye diseases but remains challenging. Traditional autoencoder-based methods struggle with resolution loss and information recovery. While…

Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…

Volumetric Modulated Arc Therapy (VMAT) is a cornerstone of modern radiation therapy, enabling highly conformal tumor irradiation and healthy-tissue sparing. Yet, its planning solves inverse and nested optimization for multi-leaf…

Underwater optical images inevitably suffer from various degradation factors such as blurring, low contrast, and color distortion, which hinder the accuracy of object detection tasks. Due to the lack of paired underwater/clean images, most…

Real-time high-accuracy optical flow estimation is critical for a variety of real-world robotic applications. However, current learning-based methods often struggle to balance accuracy and computational efficiency: methods that achieve high…

Navigating in a fluid flow while being carried by it, using only information accessible from on-board sensors, is a problem commonly faced by small planktonic organisms. It is also directly relevant to autonomous robots deployed in the…

We present a visual-inertial depth estimation pipeline that integrates monocular depth estimation and visual-inertial odometry to produce dense depth estimates with metric scale. Our approach performs global scale and shift alignment…

Underwater stereo depth estimation provides accurate 3D geometry for robotics tasks such as navigation, inspection, and mapping, offering metric depth from low-cost passive cameras while avoiding the scale ambiguity of monocular methods.…

The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…