相关论文: Learning to Anchor Visual Odometry: KAN-Based Pose…

Promising solutions exist today that can accurately track mobile entities indoor using visual inertial odometry in favorable visual conditions, or by leveraging fine-grained ranging (RF, ultrasonic, IR, etc.) to reference anchors. However,…

Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…

This paper overviews different pose representations and metric functions in visual odometry (VO) networks. The performance of VO networks heavily relies on how their architecture encodes the information. The choice of pose representation…

To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…

In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…

Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…

Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…

Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique,…

Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…

Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…

Conventional visual object trackers localize targets using handcrafted spatial priors, often in the form of heatmaps. Such priors provide only surrogate supervision and are poorly aligned with tracking optimization and evaluation metrics,…

Precise six-degree-of-freedom (6DoF) head pose estimation is crucial for safety-critical applications and human-computer interaction scenarios, yet existing monocular methods still struggle with robust pose estimation. We revisit this…

We introduce the Kolmogorov-Arnold Network for Dynamics (KANDy) as a zero-depth, wide neural architecture capable of discovering governing equations in chaotic and complex dynamical systems. Building on the foundation of Kolmogorov-Arnold…

Object localization in 3D space is a challenging aspect in monocular 3D object detection. Recent advances in 6DoF pose estimation have shown that predicting dense 2D-3D correspondence maps between image and object 3D model and then…

The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…

Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…

This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine…

Small-angle scattering (SAS) techniques are indispensable tools for probing the structure of soft materials. However, traditional analytical models often face limitations in structural inversion for complex systems, primarily due to the…