相关论文: DINO-VO: A Feature-based Visual Odometry Leveragin…

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…

Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…

Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To address this, dense Monocular Depth Estimation (MDE) has been…

Predicting future dynamics is crucial for applications like autonomous driving and robotics, where understanding the environment is key. Existing pixel-level methods are computationally expensive and often focus on irrelevant details. To…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

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…

Medical foundation models, pre-trained with large-scale clinical data, demonstrate strong performance in diverse clinically relevant applications. RETFound, trained on nearly one million retinal images, exemplifies this approach in…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…

Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…

In this paper, we propose LIR-LIVO, a lightweight and robust LiDAR-inertial-visual odometry system designed for challenging illumination and degraded environments. The proposed method leverages deep learning-based illumination-resilient…

One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…

In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…

Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…

In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…

Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…

Driven by the emergence of Controllable Video Diffusion, existing Sim2Real methods for autonomous driving video generation typically rely on explicit intermediate representations to bridge the domain gap. However, these modalities face a…

In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate…

Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…

Multi-task image restoration has gained significant interest due to its inherent versatility and efficiency compared to its single-task counterpart. However, performance decline is observed with an increase in the number of tasks, primarily…