相关论文: VOCAL: Visual Odometry via ContrAstive Learning

We present Region-aware Open-vocabulary Vision Transformers (RO-ViT) - a contrastive image-text pretraining recipe to bridge the gap between image-level pretraining and open-vocabulary object detection. At the pretraining phase, we propose…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

As the most fundamental scene understanding tasks, object detection and segmentation have made tremendous progress in deep learning era. Due to the expensive manual labeling cost, the annotated categories in existing datasets are often…

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…

Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize…

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…

Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

This paper overviews different pose representations and metric functions in visual odometry (VO) networks. The performance of VO networks heavily relies on how their architecture encodes the information. The choice of pose representation…

With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is…

Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…

In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…

Open-vocabulary semantic segmentation attempts to classify and outline objects in an image using arbitrary text labels, including those unseen during training. Self-supervised learning resolves numerous visual and linguistic processing…

We propose a dense indirect visual odometry method taking as input externally estimated optical flow fields instead of hand-crafted feature correspondences. We define our problem as a probabilistic model and develop a generalized-EM…

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO…

Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online…

Dimensional representations of speech emotions such as the arousal-valence (AV) representation provide a continuous and fine-grained description and control than their categorical counterparts. They have wide applications in tasks such as…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

Semi-supervised learning for medical image segmentation is an important area of research for alleviating the huge cost associated with the construction of reliable large-scale annotations in the medical domain. Recent semi-supervised…

This letter presents an accurate and robust Lidar Inertial Odometry framework. We fuse LiDAR scans with IMU data using a tightly-coupled iterative error state Kalman filter for robust and fast localization. To achieve robust correspondence…