相关论文: Princeton365: A Diverse Dataset with Accurate Came…

This paper presents Open-Structure, a novel benchmark dataset for evaluating visual odometry and SLAM methods. Compared to existing public datasets that primarily offer raw images, Open-Structure provides direct access to point and line…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

Monocular SLAM historically suffers from scale ambiguity and tracking failure in dynamic environments. While recent vision foundation models (VFMs) provide remarkable zero-shot depth priors, naively integrating these deterministic…

We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large…

The growing popularity of remote fitness has increased the demand for highly accurate computer vision models that track human poses. However, the best methods still fail in many real-world fitness scenarios, suggesting that there is a…

Recent advances in deep-learning based methods for image matching have demonstrated their superiority over traditional algorithms, enabling correspondence estimation in challenging scenes with significant differences in viewing angles,…

In recent years, the performance of novel view synthesis using perspective images has dramatically improved with the advent of neural radiance fields (NeRF). This study proposes two novel techniques that effectively build NeRF for…

We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…

Recent advances in camera-controllable video generation have been constrained by the reliance on static-scene datasets with relative-scale camera annotations, such as RealEstate10K. While these datasets enable basic viewpoint control, they…

We introduce PACE (Pose Annotations in Cluttered Environments), a large-scale benchmark designed to advance the development and evaluation of pose estimation methods in cluttered scenarios. PACE provides a large-scale real-world benchmark…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping(SLAM). This work proposes a system for robustly optimizing the pose of…

Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…

In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Lines are interesting geometrical features commonly seen in indoor and urban environments. There is missing a complete benchmark where one can evaluate lines from a sequential stream of images in all its stages: Line detection, Line…

Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…

Depth estimation is an essential task toward full scene understanding since it allows the projection of rich semantic information captured by cameras into 3D space. While the field has gained much attention recently, datasets for depth…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Given an image sequence featuring a portion of a sports field filmed by a moving and uncalibrated camera, such as the one of the smartphones, our goal is to compute automatically in real time the focal length and extrinsic camera parameters…