5 papers
Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry
Shuyi Pan, Hangtian Wang, Zhaoxing Zhang +3
Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertial odometry (VIO). However, the large data volume of such maps, combi…
BAT: Learning Event-based Optical Flow with Bidirectional Adaptive Temporal Correlation
Gangwei Xu, Haotong Lin, Zhaoxing Zhang +3
Event cameras deliver visual information characterized by a high dynamic range and high temporal resolution, offering significant advantages in estimating optical flow for complex…
Event-based Stereo Visual-Inertial Odometry with Voxel Map
Zhaoxing Zhang, Xiaoxiang Wang, Chengliang Zhang +3
The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in…
RoMeO: Robust Metric Visual Odometry
Junda Cheng, Zhipeng Cai, Zhaoxing Zhang +4
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocul…
Leveraging Consistent Spatio-Temporal Correspondence for Robust Visual Odometry
Zhaoxing Zhang, Junda Cheng, Gangwei Xu +3
Recent approaches to VO have significantly improved performance by using deep networks to predict optical flow between video frames. However, existing methods still suffer from noi…