相关论文: Direct Sparse Odometry with Continuous 3D Gaussian…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

This work presents the Large Depth Completion Model (LDCM), a simple, effective, and robust framework for single-view metric depth estimation with sparse observations. Without relying on complex architectural designs, LDCM generates…

Monocular 3D object detection (Mono3D) has achieved tremendous improvements with emerging large-scale autonomous driving datasets and the rapid development of deep learning techniques. However, caused by severe domain gaps (e.g., the field…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of unstable pose estimation and scene representation distortion…

Differentiable rendering techniques have recently shown promising results for free-viewpoint video synthesis of characters. However, such methods, either Gaussian Splatting or neural implicit rendering, typically necessitate per-subject…

Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…

Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

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…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Novel view synthesis from a sparse set of input images is a challenging problem of great practical interest, especially when camera poses are absent or inaccurate. Direct optimization of camera poses and usage of estimated depths in neural…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…