相关论文: Robust Monocular Visual Odometry using Curriculum …

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…

Monocular visual odometry (VO) suffers severely from error accumulation during frame-to-frame pose estimation. In this paper, we present a self-supervised learning method for VO with special consideration for consistency over longer…

This paper introduces a fully deep learning approach to monocular SLAM, which can perform simultaneous localization using a neural network for learning visual odometry (L-VO) and dense 3D mapping. Dense 2D flow and a depth image are…

In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…

Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inherent to such scenarios. We propose a…

Spatial scene understanding, including monocular depth estimation, is an important problem in various applications, such as robotics and autonomous driving. While improvements in unsupervised monocular depth estimation have potentially…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

Curriculum Learning (CL) is a technique of training models via ranking examples in a typically increasing difficulty trend with the aim of accelerating convergence and improving generalisability. Current approaches for Natural Language…

Deep learning-based Visual SLAM (vSLAM) systems exhibit exceptional geometric reasoning capabilities, yet their prohibitive computational overhead severely restricts deployment on resource-constrained autonomous platforms. This paper…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

In autonomous driving, traditional Computer Vision (CV) agents often struggle in unfamiliar situations due to biases in the training data. Deep Reinforcement Learning (DRL) agents address this by learning from experience and maximizing…

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…

Curriculum Learning (CL) is a meta-learning paradigm that trains a model by feeding the data instances incrementally according to a schedule, which is based on difficulty progression. Defining meaningful difficulty assessment measures is…

Quadrupedal locomotion is a complex, open-ended problem vital to expanding autonomous vehicle reach. Traditional reinforcement learning approaches often fall short due to training instability and sample inefficiency. We propose a novel…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

Curriculum learning is a learning method that trains models in a meaningful order from easier to harder samples. A key here is to devise automatic and objective difficulty measures of samples. In the medical domain, previous work applied…