相关论文: LAMP: Localization Aware Multi-camera People Track…

Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

This paper proposes a novel simultaneous localization and mapping (SLAM) approach, namely Attention-SLAM, which simulates human navigation mode by combining a visual saliency model (SalNavNet) with traditional monocular visual SLAM. Most…

Recent approaches have successfully focused on the segmentation of static reconstructions, thereby equipping downstream applications with semantic 3D understanding. However, the world in which we live is dynamic, characterized by numerous…

This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…

Regardless of the tremendous progress, a truly general purpose pipeline for Simultaneous Localization and Mapping (SLAM) remains a challenge. We investigate the reported failure of state of the art (SOTA) SLAM techniques on egocentric…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…

Blind individuals face persistent challenges in last-mile navigation, including locating entrances, identifying obstacles, and navigating complex or cluttered spaces. Although wearable cameras are increasingly used in assistive systems,…

Event cameras are a paradigm shift in camera technology. Instead of full frames, the sensor captures a sparse set of events caused by intensity changes. Since only the changes are transferred, those cameras are able to capture quick…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…

Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…

Understanding human movement and city dynamics has always been challenging. From traditional methods of manually observing the city's inhabitant, to using cameras, to now using sensors and more complex technology, the field of urban…

Accurate 3D human pose estimation from monocular videos requires effective modelling of complex spatial and temporal dependencies. However, existing methods often face challenges in efficiency and adaptability when modelling spatial and…

Our group is developing a multi-user eye-tracked 3D display, an evolution of the single-user eye-tracked 3D display that we have already successfully developed. This display utilizes a slanted lenticular setup, where multiple perspective…

Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…

Recent advances of monocular 3D object detection facilitate the 3D multi-object tracking task based on low-cost camera sensors. In this paper, we find that the motion cue of objects along different time frames is critical in 3D multi-object…