8 accepted papers
Bayesian Optimization is widely used for expensive black-box optimization, yet its success often depends on choosing a kernel that matches the objective’s unknown structure. In this work, we propose ALAS, a flexible Gaussian Process kernel family built from symmetric $\alpha$-stable spectral compone…
Monocular self-supervised depth estimation can be easily applied in many areas since only a single camera is required. However, current methods do not predict well in depth borders. Besides, factors such as occlusion and texture sparsity can lead to the failure of the photometric consistency, affect…
Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases i…
Visual odometry (VO) is an essence of vision-based localization and mapping system where existing learning-based approaches utilize CNN and RNN to model camera motion and gain promising results. However, these methods lack full use of the relationship between spatial characteristics and temporal clu…
Recently, unsupervised methods for monocular visual odometry (VO), with no need for quantities of expensive labeled ground truth, have attracted much attention. However, these methods are inadequate for long-term odometry task, due to the inherent limitation of only using monocular visual data and t…
Convolutional Neural Network (CNN) can be used to indiscriminately predict dense depth and camera motion from images, however, ignoring the relationship between depth map and camera motion increases the computational burden to label the datasets and limits the accuracy of the results. In this paper,…
Most of the existing monocular visual-inertial SLAM techniques assume that the camera-IMU extrinsic parameters are known, therefore these methods merely estimate the initial values of velocity, visual scale, gravity, biases of gyroscope and accelerometer in the initialization stage. However, it's us…
Tracking failure is an inevitable event in real-time monocular simultaneous localization and mapping (SLAM) system. Relocalization procedure that focuses on exploring a visited place to relocalize a camera is usually used to handle this problem. However, this strategy abandons the poses of the frame…