相关论文: Self-Supervised Monocular Visual Drone Model Ident…

We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…

Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…

Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…

We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying…

Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for onboard state estimation of a high-speed UAV using a monocular…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…

Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…

Curriculum Learning (CL), drawing inspiration from natural learning patterns observed in humans and animals, employs a systematic approach of gradually introducing increasingly complex training data during model development. Our work…

Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features…

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…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

Estimating 3D human poses from a monocular video is still a challenging task. Many existing methods' performance drops when the target person is occluded by other objects, or the motion is too fast/slow relative to the scale and speed of…

In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

Occlusions are a significant challenge to human pose estimation algorithms, often resulting in inaccurate and anatomically implausible poses. Although current occlusion-robust human pose estimation algorithms exhibit impressive performance…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Image-based depth estimation has gained significant attention in recent research on computer vision for autonomous vehicles in intelligent transportation systems. This focus stems from its cost-effectiveness and wide range of potential…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…