4 papers
DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closing
Hao Qu, Lilian Zhang, Jun Mao +5
The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep le…
Distributed bundle adjustment with block-based sparse matrix compression for super large scale datasets
Maoteng Zheng, Nengcheng Chen, Junfeng Zhu +5
We propose a distributed bundle adjustment (DBA) method using the exact Levenberg-Marquardt (LM) algorithm for super large-scale datasets. Most of the existing methods partition th…
SelfOdom: Self-supervised Egomotion and Depth Learning via Bi-directional Coarse-to-Fine Scale Recovery
Hao Qu, Lilian Zhang, Xiaoping Hu +3
Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth fr…
A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization
Jun Mao, Lilian Zhang, Xiaofeng He +2
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision…