相关论文: Reinforcement Learning Meets Visual Odometry

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

Breakthroughs in visual odometry (VO) have fundamentally reshaped the landscape of robotics, enabling ultra-precise camera state estimation that is crucial for modern autonomous systems. Despite these advances, many learning-based VO…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…

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,…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

Offline reinforcement learning (RL) shows promise of applying RL to real-world problems by effectively utilizing previously collected data. Most existing offline RL algorithms use regularization or constraints to suppress extrapolation…

Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring…

Visual Reinforcement Learning is a popular and powerful framework that takes full advantage of the Deep Learning breakthrough. It is known that variations in input domains (e.g., different panorama colors due to seasonal changes) or task…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…

Video generation models produce visually coherent content but struggle with tasks requiring spatial reasoning and multi-step planning. Reinforcement learning (RL) offers a path to improve generalization, but its effectiveness in video…

Offline reinforcement learning (RL) enables policy optimization using static datasets, avoiding the risks and costs of extensive real-world exploration. However, it struggles with suboptimal offline behaviors and inaccurate value estimation…

Reinforcement learning (RL) is an effective technique for training decision-making agents through interactions with their environment. The advent of deep learning has been associated with highly notable successes with sequential decision…

The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

We present an approach for reconfiguration of dynamic visual sensor networks with deep reinforcement learning (RL). Our RL agent uses a modified asynchronous advantage actor-critic framework and the recently proposed Relational Network…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…