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

In this research, we propose the first approach for integrating the Kolmogorov-Arnold Network (KAN) with various pre-trained Convolutional Neural Network (CNN) models for remote sensing (RS) scene classification tasks using the EuroSAT…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

Attention mechanisms have become a key module in modern vision backbones due to their ability to model long-range dependencies. However, their quadratic complexity in sequence length and the difficulty of interpreting attention weights…

This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

In this work we present WGANVO, a Deep Learning based monocular Visual Odometry method. In particular, a neural network is trained to regress a pose estimate from an image pair. The training is performed using a semi-supervised approach.…

In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…

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…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

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…

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…

Synthetic Aperture Radar (SAR) image recognition is vital for disaster monitoring, military reconnaissance, and ocean observation. However, large SAR image sizes hinder deep learning deployment on resource-constrained edge devices, and…