相关论文: DVLO4D: Deep Visual-Lidar Odometry with Sparse Spa…

LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…

In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…

Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

The integration of data from diverse sensor modalities (e.g., camera and LiDAR) constitutes a prevalent methodology within the ambit of autonomous driving scenarios. Recent advancements in efficient point cloud transformers have underscored…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…

Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradigm, which computes absolute camera poses from the local map thus requires large-scale landmark maintenance and continuous map…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…

Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

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…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

Multi-modal 3D object detection has exhibited significant progress in recent years. However, most existing methods can hardly scale to long-range scenarios due to their reliance on dense 3D features, which substantially escalate…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…