相关论文: Keyframe-Based Feed-Forward Visual Odometry

Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…

This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry that builds on the recently developed continuous sensor…

Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithms that fully exploit the beneficial properties of event…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing performance (accuracy & robustness) and efficiency (latency). Feature-based systems exhibit good performance, yet have higher latency due to explicit data association;…

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-…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

Most previous learning-based visual odometry (VO) methods take VO as a pure tracking problem. In contrast, we present a VO framework by incorporating two additional components called Memory and Refining. The Memory component preserves…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

We propose a self-supervised learning framework for visual odometry (VO) that incorporates correlation of consecutive frames and takes advantage of adversarial learning. Previous methods tackle self-supervised VO as a local structure from…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…