Papers Monocular Visual Odometry
“Monocular Visual Odometry” 태그가 달린 논문 71편 · 필터 해제
DINO-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+1An Online Adaptation Method for Robust Depth Estimation and Visual Odometry in the Open World
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of…
Depth EstimationMonocular Depth EstimationMonocular Visual OdometryPose Estimation+3Geometry-Constrained Monocular Scale Estimation Using Semantic Segmentation for Dynamic Scenes
Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visu…
Autonomous DrivingComputational EfficiencyMonocular Visual OdometryMotion Estimation+3Robust Monocular Visual Odometry using Curriculum Learning
Curriculum Learning (CL), drawing inspiration from natural learning patterns observed in humans and animals, employs a systematic approach of gradually introducing increasingly complex training data during model developm…
Monocular Visual OdometryRobot NavigationSchedulingVisual OdometryCodedVO: Coded Visual Odometry
Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present…
Monocular Visual OdometryVisual OdometryAttenuation-Aware Weighted Optical Flow with Medium Transmission Map for Learning-based Visual Odometry in Underwater terrain
This paper addresses the challenge of improving learning-based monocular visual odometry (VO) in underwater environments by integrating principles of underwater optical imaging to manipulate optical flow estimation. Leve…
Monocular Visual OdometryOptical Flow EstimationVisual OdometrySelf-Supervised Geometry-Guided Initialization for Robust Monocular Visual Odometry
Monocular visual odometry is a key technology in a wide variety of autonomous systems. Relative to traditional feature-based methods, that suffer from failures due to poor lighting, insufficient texture, large motions, e…
Depth EstimationMonocular Depth EstimationMonocular Visual OdometryVisual OdometryAn Attention-Based Deep Learning Architecture for Real-Time Monocular Visual Odometry: Applications to GPS-free Drone Navigation
Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in …
Drone navigationMonocular Visual OdometryVisual OdometryMotion Consistency Loss for Monocular Visual Odometry with Attention-Based Deep Learning
Deep learning algorithms have driven expressive progress in many complex tasks. The loss function is a core component of deep learning techniques, guiding the learning process of neural networks. This paper contributes b…
Deep LearningMonocular Visual OdometryVisual OdometryNeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields
We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dens…
Depth EstimationDepth PredictionGPUMonocular Visual Odometry+4Deep Event Visual Odometry
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches…
Monocular Visual OdometryPose TrackingVisual OdometryMonocular visual simultaneous localization and mapping:(r) evolution from geometry to deep learning-based pipelines
With the rise of deep learning, there is a fundamental change in visual simultaneous localization and mapping (SLAM) algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of …
Monocular Visual OdometrySimultaneous Localization and MappingXVO: Generalized Visual Odometry via Cross-Modal Self-Training
We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular …
Monocular Visual OdometryMotion EstimationTransfer LearningVisual OdometryTransformer-Based Model for Monocular Visual Odometry: A Video Understanding Approach
Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches tha…
Autonomous VehiclesMonocular Visual OdometryVideo UnderstandingVisual OdometryDense Prediction Transformer for Scale Estimation in Monocular Visual Odometry
Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular syst…
Autonomous VehiclesMonocular Visual OdometryPositionVisual OdometryDeep Patch Visual Odometry
We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approa…
Monocular Visual OdometryVisual OdometryDrift Reduction for Monocular Visual Odometry of Intelligent Vehicles using Feedforward Neural Networks
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle betw…
Monocular Visual OdometryMotion EstimationPose EstimationVisual OdometryEvent-aided Direct Sparse Odometry
We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct…
Monocular Visual OdometryVisual OdometryImproving Monocular Visual Odometry Using Learned Depth
Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In th…
Depth EstimationMonocular Depth EstimationMonocular Visual OdometryVisual OdometryRAUM-VO: Rotational Adjusted Unsupervised Monocular Visual Odometry
Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome ma…
Monocular Visual OdometryMotion EstimationPose EstimationScene Understanding+1