Papers Visual Odometry
“Visual Odometry” 태그가 달린 논문 487편 · 필터 해제
DualVision ArthroNav: Investigating Opportunities to Enhance Localization and Reconstruction in Image-based Arthroscopy Navigation via External Cameras
Arthroscopic procedures can greatly benefit from navigation systems that enhance spatial awareness, depth perception, and field of view. However, existing optical tracking solutions impose strict workspace constraints an…
Visual OdometryLiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance rem…
Scene UnderstandingVisual OdometryPoint CloudsEA3D: Online Open-World 3D Object Extraction from Streaming Videos
Current 3D scene understanding methods are limited by offline-collected multi-view data or pre-constructed 3D geometry. In this paper, we present ExtractAnything3D (EA3D), a unified online framework for open-world 3D obj…
Instance SegmentationScene Understanding3D ReconstructionVisual OdometryDeepDetect: Learning All-in-One Dense Keypoints
Keypoint detection is the foundation of many computer vision tasks, including image registration, structure-from-motion, 3D reconstruction, visual odometry, and SLAM. Traditional detectors (SIFT, ORB, BRISK, FAST, etc.) …
Keypoint DetectionImage Registration3D ReconstructionVisual OdometryPolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accura…
Motion PlanningVisual OdometryFVO: Fast Visual Odometry with Transformers
Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, thes…
Visual OdometryOmni-LIVO: Robust RGB-Colored Multi-Camera Visual-Inertial-LiDAR Odometry via Photometric Migration and ESIKF Fusion
Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camera, limiting their ability to fully explo…
Visual OdometryBEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots
Scale-consistent ego-motion estimation is fundamental for autonomous ground robots. Bird's-Eye-View (BEV) representation naturally addresses the scale drift problem of monocular visual odometry (MVO) by providing a metri…
Visual OdometryBarometer-Aided Attitude Estimation
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for …
Autonomous VehiclesVisual OdometryUM-Depth : Uncertainty Masked Self-Supervised Monocular Depth Estimation with Visual Odometry
Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the netw…
Monocular Depth EstimationAutonomous DrivingPose EstimationVisual OdometryDeep Visual Odometry for Stereo Event Cameras
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving mo…
Optical Flow EstimationDepth EstimationPose EstimationVisual OdometryGood Deep Features to Track: Self-Supervised Feature Extraction and Tracking in Visual Odometry
Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynamic scenes, and low-texture areas. These …
Self-Supervised LearningVisual OdometryAerial-ground Cross-modal Localization: Dataset, Ground-truth, and Benchmark
Accurate visual localization in dense urban environments poses a fundamental task in photogrammetry, geospatial information science, and robotics. While imagery is a low-cost and widely accessible sensing modality, its e…
Visual LocalizationVisual OdometryPoint CloudsOdometry Calibration and Pose Estimation of a 4WIS4WID Mobile Wall Climbing Robot
This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements, including wheel od…
Pose EstimationVisual OdometryCoProU-VO: Combining Projected Uncertainty for End-to-End Unsupervised Monocular Visual Odometry
Visual Odometry (VO) is fundamental to autonomous navigation, robotics, and augmented reality, with unsupervised approaches eliminating the need for expensive ground-truth labels. However, these methods struggle when dyn…
Motion SegmentationVisual OdometryA Fast and Light-weight Non-Iterative Visual Odometry with RGB-D Cameras
In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D …
Visual OdometryDense-depth map guided deep Lidar-Visual Odometry with Sparse Point Clouds and Images
Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estim…
Depth CompletionPose EstimationVisual OdometryPoint CloudsDiffPF: Differentiable Particle Filtering with Generative Sampling via Conditional Diffusion Models
This paper proposes DiffPF, a differentiable particle filter that leverages diffusion models for state estimation in dynamic systems. Unlike conventional differentiable particle filters, which require importance weightin…
Visual OdometryDINO-VO: A Feature-based Visual Odometry Leveraging a Visual Foundation Model
Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalizat…
GPUMonocular Visual OdometryMotion EstimationPose Estimation+1Hardware-Aware Feature Extraction Quantisation for Real-Time Visual Odometry on FPGA Platforms
Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation an…
Visual Odometry