74 citations · 196 across the 26 of their papers we have counts for
6 papers · 1 filter
Neural Outlier Rejection for Self-Supervised Keypoint Learning
Jiexiong Tang, Hanme Kim, Vitor Guizilini +2
Identifying salient points in images is a crucial component for visual odometry, Structure-from-Motion or SLAM algorithms. Recently, several learned keypoint methods have demonstra…
Dynamic Hilbert Maps: Real-Time Occupancy Predictions in Changing Environment
Vitor Guizilini, Ransalu Senanayake, Fabio Ramos
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world…
Self-Supervised 3D Keypoint Learning for Ego-motion Estimation
Jiexiong Tang, Rares Ambrus, Vitor Guizilini +4
Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples…
Robust Semi-Supervised Monocular Depth Estimation with Reprojected Distances
Vitor Guizilini, Jie Li, Rares Ambrus +2
Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression…
Two Stream Networks for Self-Supervised Ego-Motion Estimation
Rares Ambrus, Vitor Guizilini, Jie Li +2
Learning depth and camera ego-motion from raw unlabeled RGB video streams is seeing exciting progress through self-supervision from strong geometric cues. To leverage not only appe…
3D Packing for Self-Supervised Monocular Depth Estimation
Vitor Guizilini, Rares Ambrus, Sudeep Pillai +2
Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular…