相关论文: MambaVO: Deep Visual Odometry Based on Sequential …

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…

Software configuration tuning is essential for optimizing a given performance objective (e.g., minimizing latency). Yet, due to the software's intrinsically complex configuration landscape and expensive measurement, there has been a rather…

Capturing voxel-wise spatial correspondence across distinct modalities is crucial for medical image analysis. However, current registration approaches are not practical enough in terms of registration accuracy and clinical applicability. In…

Cross-modal alignment is crucial for multimodal representation fusion due to the inherent heterogeneity between modalities. While Transformer-based methods have shown promising results in modeling inter-modal relationships, their quadratic…

Panoptic segmentation requires the simultaneous recognition of countable thing instances and amorphous stuff regions, placing joint demands on long-range context modelling, multi-scale feature representation, and efficient dense prediction.…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Video understanding requires the extraction of rich spatio-temporal representations, which transformer models achieve through self-attention. Unfortunately, self-attention poses a computational burden. In NLP, Mamba has surfaced as an…

In the field of autonomous driving, Bird's-Eye-View (BEV) perception has attracted increasing attention in the community since it provides more comprehensive information compared with pinhole front-view images and panoramas. Traditional BEV…

Multi-object tracking (MOT) is a fundamental task in computer vision that requires continuously tracking multiple targets while maintaining consistent identities across frames. However, most existing approaches primarily rely on…

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…

Despite decades of progress, a truly input-size agnostic visual encoder-a fundamental characteristic of human vision-has remained elusive. We address this limitation by proposing \textbf{MambaEye}, a novel, causal sequential encoder that…

Multi-modal fusion holds great promise for integrating information from different modalities. However, due to a lack of consideration for modal consistency, existing multi-modal fusion methods in the field of remote sensing still face…

Mesh saliency enhances the adaptability of 3D vision by identifying and emphasizing regions that naturally attract visual attention. To investigate the interaction between geometric structure and texture in shaping visual attention, we…

Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements…

Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…

Real-time object detection is a fundamental but challenging task in computer vision, particularly when computational resources are limited. Although YOLO-series models have set strong benchmarks by balancing speed and accuracy, the…

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…

State Space Model (SSM)-based machine learning architectures have recently gained significant attention for processing sequential data. Mamba, a recent sequence-to-sequence SSM, offers competitive accuracy with superior computational…

Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…

Accurate beam prediction is essential for mitigating signalling overhead and latency in integrated sensing and communication-enabled massive multi-input multi-output systems. With the aid of multimodal learning, the prediction accuracy can…