10 accepted papers
Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured representations and fail to jointly model suitable geometry and articu
As a fundamental visual task, optical flow estimation has widespread applications in computer vision. However, it faces significant challenges under adverse lighting conditions, where low texture and noise make accurate optical flow estimation particularly difficult.In this paper, we propose an opti…
Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-f
Visual place recognition (VPR) is essential to many autonomous systems. Existing VPR methods demonstrate attractive performance at the cost of limited generalizability. When deployed in unseen environments, these methods exhibit significant performance drops. Targeting this issue, we present VIPeR,
We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However, rather than simple feature concatenation, self-attention module…
Visual-inertial initialization can be classified into joint and disjoint approaches. Joint approaches tackle both the visual and the inertial parameters together by aligning observations from feature-bearing points based on IMU integration then use a closed-form solution with visual and acceleration…
We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation (VPS) in a unified view, which makes the two tasks mutually bene…
We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the first stage is trained for the auxiliary task of semantic seg…
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can suffer from inaccurate local pose estimation when feature inf…
We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of appearance-based relocalisation methods using point features or i…