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

Vision-Language Navigation (VLN) requires the agent to follow language instructions to reach a target position. A key factor for successful navigation is to align the landmarks implied in the instruction with diverse visual observations.…

Dense visual odometry (VO), which provides pose estimation and dense 3D reconstruction, serves as the cornerstone for applications ranging from robotics to augmented reality. Recently, feed-forward models have demonstrated remarkable…

In this paper, we introduce Wav-KAN, an innovative neural network architecture that leverages the Wavelet Kolmogorov-Arnold Networks (Wav-KAN) framework to enhance interpretability and performance. Traditional multilayer perceptrons (MLPs)…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

This paper introduces a novel application of Kolmogorov-Arnold Networks (KANs) to time series forecasting, leveraging their adaptive activation functions for enhanced predictive modeling. Inspired by the Kolmogorov-Arnold representation…

Modern machine learning, grounded in the Universal Approximation Theorem, has achieved significant success in the study of phase transitions in both equilibrium and non-equilibrium systems. However, identifying the critical points of…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Landmark localization is a challenging problem in computer vision with a multitude of applications. Recent deep learning based methods have shown improved results by regressing likelihood maps instead of regressing the coordinates directly.…

Kolmogorov-Arnold Networks (KANs) introduce a paradigm of neural modeling that implements learnable functions on the edges of the networks, diverging from the traditional node-centric activations in neural networks. This work assesses the…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…

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…

Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We…

Multi-agents rely on accurate poses to share and align observations, enabling a collaborative perception of the environment. However, traditional GNSS-based localization often fails in GNSS-denied environments, making consistent feature…

Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…

6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…

Localizing predefined 3D keypoints in a 2D image is an effective way to establish 3D-2D correspondences for instance-level 6DoF object pose estimation. However, unreliable localization results of invisible keypoints degrade the quality of…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

Accurate localization is essential for autonomous driving, but GNSS-based methods struggle in challenging environments such as urban canyons. Cross-view pose optimization offers an effective solution by directly estimating vehicle pose…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…