相关论文: DATAP-SfM: Dynamic-Aware Tracking Any Point for Ro…

Mainstream visual object tracking frameworks predominantly rely on template matching paradigms. Their performance heavily depends on the quality of template features, which becomes increasingly challenging to maintain in complex scenarios…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

This report introduces an improved method for the Tracking Any Point~(TAP), focusing on monitoring physical surfaces in video footage. Despite their success with short-sequence scenarios, TAP methods still face performance degradation and…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

Simultaneous Localization & Mapping (SLAM) is the process of building a mutual relationship between localization and mapping of the subject in its surrounding environment. With the help of different sensors, various types of SLAM systems…

Tracking any point (TAP) is a fundamental yet challenging task in computer vision, requiring high precision and long-term motion reasoning. Recent attempts to combine RGB frames and event streams have shown promise, yet they typically rely…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

We propose ProTracker, a novel framework for accurate and robust long-term dense tracking of arbitrary points in videos. Previous methods relying on global cost volumes effectively handle large occlusions and scene changes but lack…

We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

We consider the problem of simultaneously estimating a dense depth map and camera pose for a large set of images of an indoor scene. While classical SfM pipelines rely on a two-step approach where cameras are first estimated using a bundle…

Recent studies on motion estimation have advocated an optimized motion representation that is globally consistent across the entire video, preferably for every pixel. This is challenging as a uniform representation may not account for the…

In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

Video segmentation is essential for advancing robotics and autonomous driving, particularly in open-world settings where continuous perception and object association across video frames are critical. While the Segment Anything Model (SAM)…

Structure-from-motion (SfM) largely relies on feature tracking. In image sequences, if disjointed tracks caused by objects moving in and out of the field of view, occasional occlusion, or image noise, are not handled well, corresponding SfM…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…

Estimating full-body human motion via sparse tracking signals from head-mounted displays and hand controllers in 3D scenes is crucial to applications in AR/VR. One of the biggest challenges to this task is the one-to-many mapping from…

Depth estimation aims to predict dense depth maps. In autonomous driving scenes, sparsity of annotations makes the task challenging. Supervised models produce concave objects due to insufficient structural information. They overfit to valid…