4 accepted papers
We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving objects, changing light and various weather conditions. By collecting data in simulations, we are able to obtain multi-mo…
Visual odometry is an essential problem for mobile robots. Traditional methods for solving VO mostly utilize geometric optimization. While capable of achieving high accuracy, these methods require accurate sensor calibration and complicated parameter tuning to work well in practice. With the rise of…
Scale recovery is one of the essential problems for monocular visual odometry. The camera height is usually used as an absolute reference to recover the scale. In this case, the precision of scale recovery depends on the accuracy of the road region detection and road geometrical model calculation. I…
Scale recovery is one of the central problems for monocular visual odometry. Normally, road plane and camera height are specified as reference to recover the scale. The performances of these methods depend on the plane recognition and height measurement of camera. In this work, we propose a novel me…