相关论文: A Fast and Light-weight Non-Iterative Visual Odome…

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…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

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-…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital…

This paper proposes a new and efficient method to estimate 6-DoF ego-states: attitudes and positions in real time. The proposed method extract information of ego-states by observing a feature called "TROVE" (Three Rays and One VErtex).…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocular methods have seen…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and noisy radar measurements remains a critical challenge. In this…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

The primary challenge in computer vision is precisely calculating the pose of 6D objects, however many current approaches are still fragile and have trouble generalizing from synthetic data to real-world situations with fluctuating…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…

Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…

Multi-view geometry-based methods dominate the last few decades in monocular Visual Odometry for their superior performance, while they have been vulnerable to dynamic and low-texture scenes. More importantly, monocular methods suffer from…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…