相关论文: EROAM: Event-based Camera Rotational Odometry and …

Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…

Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been…

This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…

We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct probabilistic…

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…

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,…

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…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

Accurate measurement of shock wave motion parameters with high spatiotemporal resolution is essential for applications such as power field testing and damage assessment. However, significant challenges are posed by the fast, uneven…

Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…

Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…

As an important technology in 3D mapping, autonomous driving, and robot navigation, LiDAR odometry is still a challenging task. Appropriate data structure and unsupervised deep learning are the keys to achieve an easy adjusted LiDAR…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

In recent years, there has been a growing demand for improved autonomy for in-orbit operations such as rendezvous, docking, and proximity maneuvers, leading to increased interest in employing Deep Learning-based Spacecraft Pose Estimation…

Reliable odometry in highly dynamic environments remains challenging when it relies on ICP-based registration: ICP assumes near-static scenes and degrades in repetitive or low-texture geometry. We introduce Dynamic-ICP, a Doppler-aware…

This paper presents a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven…

Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…