A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
Filters
EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time
2017
IEEE Robotics and Automation Letters
Preserved Fulltext
The implementation runs in real-time on a standard CPU and outputs up to several hundred pose estimates per second. ...
We believe that this work makes significant progress in SLAM by unlocking the potential of event cameras. ...
However, contrarily to [12] , our geometric approach is computationally efficient (runs in real-time on the CPU in case of moderate motions), and does not need to recover image intensity to estimate depth ...
doi:10.1109/lra.2016.2645143
dblp:journals/ral/RebecqHGS17
fatcat:ezlx5eejdngqhbatygoyedmeha
Robust camera localisation with depth reconstruction for bronchoscopic navigation
2015
International Journal of Computer Assisted Radiology and Surgery
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
It outperforms the existing vision-based registration methods resulting in smaller pose estimation error of the bronchoscopic camera. ...
The pose of the bronchoscopic camera is estimated by maximising the similarity between the depth recovered from a video image and that captured from a virtual camera projection of the CT model. ...
Fani Deligianni who provided details of the pq-space based registration approach originally proposed in [7] and the data used for validation in that publication. ...
doi:10.1007/s11548-015-1197-y
pmid:25903774
fatcat:fgyq544khngntnmu64azx4zt4u
Robust Computer Vision Techniques for High-Quality 3D Modeling
2013
2013 2nd IAPR Asian Conference on Pattern Recognition
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
The second method performing shape-fromshading with a Kinect sensor estimates the shape of an object under uncalibrated natural illumination. ...
Subsequently, we summarize a calibration algorithm of a timeof-flight (ToF) sensor and a camera fusion system with a 2.5D pattern. ...
Summary In conclusion, we have presented an extrinsic calibration method to estimate the pose of a 3D ToF camera with respect to a color camera. ...
doi:10.1109/acpr.2013.215
dblp:conf/acpr/LeeJBPCHK13
fatcat:d7kzhi6emfc75pft7ccgwsno4u
Event-based Stereo Visual Odometry
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Note that this fulltext copy is not of the "primary" version of this work. The version it corresponds to is:
2020 pre-print arXiv:2007.15548v1 fatcat:2qfaql6vongm5fbpocwkx46f3q
Specifically, the mapping module builds a semi-dense 3D map of the scene by fusing depth estimates from multiple local viewpoints (obtained by spatio-temporal consistency) in a probabilistic fashion. ...
Our system follows a parallel tracking-and-mapping approach, where novel solutions to each subproblem (3D reconstruction and camera pose estimation) are developed with two objectives in mind: being principled ...
Siqi Liu for the help in data collection, and Dr. Alex Zhu for providing the CopNet baseline [21] , [63] and assistance in using the dataset [56] . ...
arXiv:2007.15548v2
fatcat:xc5z5zzosvfubabzltwdkm4s4a
Semi-direct EKF-based monocular visual-inertial odometry
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
are used simultaneously during camera pose estimation. ...
rotation, and not depending on the presence of corner-like features in the scene. ...
The algorithm is optimizing the camera pose and the patch depth by minimizing the intensity residual. ...
doi:10.1109/iros.2015.7354242
dblp:conf/iros/TanskanenNPH15
fatcat:gfltsfpvhfczhlaazr22tdca44
EMVS: Event-Based Multi-View Stereo—3D Reconstruction with an Event Camera in Real-Time
2017
International Journal of Computer Vision
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Despite its simplicity (it can be implemented in a few lines of code), our algorithm is able to produce accurate, semi-dense depth maps, without requiring any explicit data association or intensity estimation ...
Despite its simplicity (it can be implemented in a few lines of code), our algorithm is able to produce accurate, semidense depth maps, without requiring any explicit data association or intensity estimation ...
Acknowledgements This research was supported by the National Centre of Competence in Research Robotics (NCCR) and the UZH Forschungskredit. ...
doi:10.1007/s11263-017-1050-6
fatcat:vycogvcggngyhjzmos4hvmvxva
Event-Based, 6-DOF Camera Tracking from Photometric Depth Maps
2018
IEEE Transactions on Pattern Analysis and Machine Intelligence
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
Other Versions
With these applications in mind, this paper tackles the problem of accurate, low-latency tracking of an event camera from an existing photometric depth map (i.e., intensity plus depth information) built ...
Our approach tracks the 6-DOF pose of the event camera upon the arrival of each event, thus virtually eliminating latency. ...
The pose tracker is based on edge-map alignment and the scene depth is estimated without intensity reconstruction, thus allowing the system to run in real-time on the CPU. ...
doi:10.1109/tpami.2017.2769655
pmid:29990121
fatcat:i3jmrunyanefrjvintm2ckgfz4
NID-SLAM: Robust Monocular SLAM Using Normalised Information Distance
2017
2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
a vehicle-mounted camera. ...
In contrast to current state-of-the-art direct methods based on photometric error minimisation, our information-theoretic NID metric provides robustness to appearance variation due to lighting, weather ...
In contrast to existing feature-based and direct photometric methods, NID-SLAM uses a global appearance metric to solve for camera pose relative to a key-frame depth map even in the presence of significant ...
doi:10.1109/cvpr.2017.158
dblp:conf/cvpr/PascoeMTP017
fatcat:omw32nxg5vgghaoc5flca54lli
Egocentric Real-time Workspace Monitoring using an RGB-D camera
2012
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
A prototype on-body system developed in the context of work-flow analysis for industrial manipulation and assembly tasks is described. ...
The approach is egocentric, facilitating full flexibility, and operates in real-time, providing object detection and recognition, and 3D trajectory estimation whilst the user undertakes tasks in the workspace ...
estimated camera pose. ...
doi:10.1109/iros.2012.6385829
dblp:conf/iros/DamenGMC12
fatcat:badaqizpfrfuzdg3lt6fwftzca
Towards Urban 3D Reconstruction from Video
2006
Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2007; you can also visit the original URL.
The file type is application/pdf.
Besides high quality in terms of both geometry and appearance, we aim at real-time performance. ...
We present the main considerations in designing the system and the steps of the processing pipeline. We show results on real video sequences captured by our system. ...
Acknowledgement This work is partially supported by DARPA under the UrbanScape project, which is lead by the Geo-Spatial Technologies Information Division of SAIC. ...
doi:10.1109/3dpvt.2006.141
dblp:conf/3dpvt/AkbarzadehFMCEGMPSTWYSYWTNP06
fatcat:mcwdxl47rvfbzerp3zv43afexq
REMODE: Probabilistic, monocular dense reconstruction in real time
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2014; you can also visit the original URL.
The file type is application/pdf.
In this paper, we solve the problem of estimating dense and accurate depth maps from a single moving camera. ...
We demonstrate that our method outperforms stateof-the-art techniques in terms of accuracy, while exhibiting high efficiency in memory usage and computing power. ...
Camera pose estimation At every time step k, the pose of the camera T k,r in the depth map reference frame r is computed by a visual odometry routine that is based on recent advancement on semi-direct ...
doi:10.1109/icra.2014.6907233
dblp:conf/icra/PizzoliFS14
fatcat:7vjx2dhbcnemtkccw4q5xtc4du
CNN-SLAM: Real-Time Dense Monocular SLAM with Learned Depth Prediction
2017
2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
We demonstrate the use of depth prediction for estimating the absolute scale of the reconstruction, hence overcoming one of the major limitations of monocular SLAM. ...
Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense ...
Every stage of the framework is now detailed in the following Subsections.
Camera Pose Estimation The camera pose estimation is inspired by the key-frame approach in [4] . ...
doi:10.1109/cvpr.2017.695
dblp:conf/cvpr/TatenoTLN17
fatcat:szx7xilnzjeovlhgbuarzlig24
CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction
[article]
2017
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
We demonstrate the use of depth prediction for estimating the absolute scale of the reconstruction, hence overcoming one of the major limitations of monocular SLAM. ...
Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense ...
Every stage of the framework is now detailed in the following Subsections.
Camera Pose Estimation The camera pose estimation is inspired by the key-frame approach in [4] . ...
arXiv:1704.03489v1
fatcat:7oiapw4zxbbmxlj4tjolqwxzzm
DI-Fusion: Online Implicit 3D Reconstruction with Deep Priors
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
Other Versions
With such deep priors, we are able to perform online implicit 3D reconstruction achieving state-of-the-art camera trajectory estimation accuracy and mapping quality, while achieving better storage efficiency ...
In this paper, we present DI-Fusion (Deep Implicit Fusion), based on a novel 3D representation, i.e. ...
Intensity Term. The intensity term used in our camera tracking (Sec. 3.2) also influences the camera pose estimation accuracy. ...
arXiv:2012.05551v2
fatcat:ec52lm6e4bhsheoiku34i6mrzq
Keyframe-based monocular SLAM: design, survey, and future directions
2017
Robotics and Autonomous Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Other Versions
Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. ...
Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies ...
Pose optimization 210 Direct and feature-based methods estimate the camera pose by minimizing a measure of error between frames; direct methods measure the photometric error, modeled as the intensity difference ...
doi:10.1016/j.robot.2017.09.010
fatcat:b6ilgshsinckjdnlsozmjppkly
« Previous
Showing results 1 — 15 out of 24,922 results