IEEE

HPGS-SLAM: Hybrid Point-Guided Dense Visual SLAM with Online Mapping via Gaussian Splatting

Abstract: In this letter, we introduce HPGS-SLAM, a real-time RGB-D SLAM system guided by hybrid point features (combining traditional and learned point features), enabling high-precision tracking and ...
IEEE

A Fast and Accurate Visual Inertial Odometry Using Hybrid Point-Line Features

Abstract: Mainstream visual-inertial SLAM systems use point features for motion estimation and localization. However, point features do not perform well in scenes such as weak texture and motion blur.
GitHub

Tutorials For Visual Debugging Using Nystrom Ncut

25 years ago, Jianbo Shi introduced Normalized Cuts (spectral clustering), a graph-theoretic approach to perceptual grouping that became a staple in unsupervised image segmentation. While the original ...
IEEE

TransforLearn: Interactive Visual Tutorial for the Transformer Model

Abstract: The widespread adoption of Transformers in deep learning, serving as the core framework for numerous large-scale language models, has sparked significant interest in understanding their ...
IEEE

A Two-Point Association Tracking System Incorporated With YOLOv11 for Real-Time Visual Tracking of Laparoscopic Surgical Instruments

Abstract: The application of real-time visual tracking in laparoscopic surgery has gained significant attention in recent years, driven by the growing demand for precise and automated surgical ...
IEEE

R2PLoc: A Region-to-Point UAV Visual Geo-Localization Framework Leveraging Hierarchical Semantic Representation

Abstract: The challenges in uncrewed aerial vehicle (UAV) visual geo-localization primarily stem from discrepancies between satellite maps and aerial images, including scale variations, viewpoint ...
IEEE

A Real-Time Stereo Visual-Inertial SLAM System Based on Point-and-Line Features

Abstract: Simultaneous localization and mapping (SLAM) is widely used in various fields, such as unmanned driving, robotics, and VR. The SLAM system with multiple landmarks is also a research hotspot ...
IEEE

EPL-VINS: Efficient Point-Line Fusion Visual-Inertial SLAM With LK-RG Line Tracking Method and 2-DoF Line Optimization

Abstract: The performance of a visual SLAM system based on point features significantly diminishes in low-textured environments due to the challenges in extracting sufficient and reliable points. The ...
IEEE

RPLF-VINS: Robust Point-Line Flow Enhanced Monocular Visual-Inertial SLAM for Low-Light Environments

Abstract: Monocular visual-inertial SLAM (VINS) confronts formidable challenges in subterranean environments such as mines, where inadequate illumination and feature-deficient textures substantially ...
IEEE

Structure-Aware Generative Point Cloud Compression for Visual Perception

Abstract: In recent years, there has been a rapid growth in applications that rely on point clouds to represent the 3D world, driven by the increasing demand for immersive and other related scenarios.
IEEE

Point–Line Visual–Inertial Odometry With Optimized Line Feature Processing

Abstract: Visual-inertial odometry (VIO) utilizing point and line features has become prevalent for state estimation in structured environments. The robustness of line segment detection and the ...