相关论文: Harnessing Foundation Models for Robust and Genera…

Capsule endoscopy has enabled minimally invasive gastrointestinal imaging, but its clinical utility is limited by the inherently low resolution of captured images due to hardware, power, and transmission constraints. This limitation hampers…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

Vision foundation models (VFMs) and Bird's Eye View (BEV) representation have advanced visual perception substantially, yet their internal spatial representations assume the rectilinear geometry of pinhole cameras. Fisheye cameras, widely…

Accurate 3D scene reconstruction is essential for numerous medical tasks. Given the challenges in obtaining ground truth data, there has been an increasing focus on self-supervised learning (SSL) for endoscopic depth estimation as a basis…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

Utilizing visual place recognition (VPR) technology to ascertain the geographical location of publicly available images is a pressing issue for real-world VPR applications. Although most current VPR methods achieve favorable results under…

Vision Foundation Models (VFMs) and Vision Language Models (VLMs) have revolutionized computer vision by providing rich semantic and geometric representations. This paper presents a comprehensive visual comparison between CLIP based and…

While traditional computer vision models have historically struggled to generalize to endoscopic domains, the emergence of foundation models has shown promising cross-domain performance. In this work, we present the first large-scale study…

High-quality 3D reconstructions from endoscopy video play an important role in many clinical applications, including surgical navigation where they enable direct video-CT registration. While many methods exist for general multi-view 3D…

Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose…

This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…

This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior accuracy by first employing deep neural network-driven…

In our work, we examine, for the first time, the possibility of fast and efficient source localization directly from the uvobservations, omitting the recovering of the dirty or clean images. We propose a deep neural network-based framework…

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend…

Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

Robust loop closure detection is a critical component of Simultaneous Localization and Mapping (SLAM) algorithms in GNSS-denied environments, such as in the context of planetary exploration. In these settings, visual place recognition often…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…