相关论文: VOCAL: Visual Odometry via ContrAstive Learning

It is highly desirable yet challenging to generate image captions that can describe novel objects which are unseen in caption-labeled training data, a capability that is evaluated in the novel object captioning challenge (nocaps). In this…

We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…

In this paper, we propose a unified information theoretic framework for learning-motivated methods aimed at odometry estimation, a crucial component of many robotics and vision tasks such as navigation and virtual reality where relative…

The tracking-by-detection framework consists of two stages, i.e., drawing samples around the target object in the first stage and classifying each sample as the target object or as background in the second stage. The performance of existing…

Audio-Visual Localization (AVL) aims to identify sound-emitting sources within a visual scene. However, existing studies focus on image-level audio-visual associations, failing to capture temporal dynamics. Moreover, they assume simplified…

Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Unsupervised Learning based monocular visual odometry (VO) has lately drawn significant attention for its potential in label-free leaning ability and robustness to camera parameters and environmental variations. However, partially due to…

The rapid development of deep learning and generative AI technologies has profoundly transformed the digital contact landscape, creating realistic Deepfake that poses substantial challenges to public trust and digital media integrity. This…

Inspired by the cognitive process of humans and animals, Curriculum Learning (CL) trains a model by gradually increasing the difficulty of the training data. In this paper, we study whether CL can be applied to complex geometry problems…

Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

Open-Vocabulary Temporal Action Localization (OVTAL) enables a model to recognize any desired action category in videos without the need to explicitly curate training data for all categories. However, this flexibility poses significant…

Transformer has recently demonstrated great potential in improving vision-language (VL) tracking algorithms. However, most of the existing VL trackers rely on carefully designed mechanisms to perform the multi-stage multi-modal fusion.…

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…

Most current audio-visual emotion recognition models lack the flexibility needed for deployment in practical applications. We envision a multimodal system that works even when only one modality is available and can be implemented…

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…

Existing open-vocabulary object detection (OVD) develops methods for testing unseen categories by aligning object region embeddings with corresponding VLM features. A recent study leverages the idea that VLMs implicitly learn compositional…

Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…

In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…