相关论文: FLIGHT: Fibonacci Lattice-based Inference for Geom…

In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly…

Reliable depth estimation from spherical images is crucial for 360{\deg} vision in robotic navigation and immersive scene understanding. However, the onboard spherical camera can experience unintentional pose variations in real-world…

We present a direct visual-inertial odometry (VIO) method which estimates the motion of the sensor setup and sparse 3D geometry of the environment based on measurements from a rolling-shutter camera and an inertial measurement unit (IMU).…

Human body orientation estimation (HBOE) is widely applied into various applications, including robotics, surveillance, pedestrian analysis and autonomous driving. Although many approaches have been addressing the HBOE problem from specific…

Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent results in small confined areas like offices and apartment…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

Event cameras detect changes in per-pixel intensity to generate asynchronous `event streams'. They offer great potential for accurate semantic map retrieval in real-time autonomous systems owing to their much higher temporal resolution and…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

The mechanism by which a tiny insect or insect-sized robot could estimate its absolute velocity and distance to nearby objects remains unknown. However, this ability is critical for behaviors that require estimating wind direction during…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

Merging short-exposure frames can provide an image with reduced noise in low light conditions. However, how best to align images before merging is an open problem. To improve the performance of alignment, we propose an inertia-sensor aided…

Hough transform (HT) has been the most common method for circle detection exhibiting robustness but adversely demanding a considerable computational load and large storage. Alternative approaches include heuristic methods that employ…

In computed tomography (CT), the relative trajectories of a sample, a detector, and a signal source are traditionally considered to be known, since they are caused by the intentional preprogrammed movement of the instrument parts. However,…

We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…

Recent advances in 3D vision have demonstrated the strengths of photometric bundle adjustment. By directly minimizing reprojected pixel errors, instead of geometric reprojection errors, such methods can achieve sub-pixel alignment accuracy…

This study presents an effective autofocusing approach for synthetic aperture radar imaging of the human body under conditions of respiratory motion. The proposed method suppresses respiratory-motion-induced phase errors by separating radar…

We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…

Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…

In this paper, we introduce a challenging task: extracting a fundamental matrix from a single motion blurred image. For a camera moving in 3D during exposure, the smear paths in the blurry image contain cues and constraints on this motion.…

We propose a system that estimates people's body and head orientations using low-resolution point cloud data from two LiDAR sensors. Our models make accurate estimations in real-world conversation settings where subjects move naturally with…