Abstract: This paper proposes the object depth estimation in real-time, using only a monocular camera in an onboard computer with a low-cost GPU. Our algorithm estimates scene depth from a sparse feature-based visual odometry algorithm and detects/tracks objects’ bounding box by util...
Abstract: In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial segmentation first generates several mo...
Abstract: In this work, we propose an edge detection algorithm by estimating a lifetime of an event produced from dynamic vision sensor, also known as event camera. The event camera, unlike traditional CMOS camera, generates sparse event data at a pixel whose log-intensity changes. D...
Abstract: This paper proposes an edge-based robust RGB-D visual odometry (VO) using 2-D edge divergence minimization. Our approach focuses on enabling the VO to operate in more general environments subject to low texture and changing brightness, by employing image edge regions and th...
Abstract: Disclosed is an ego motion estimation method and apparatus, wherein the apparatus calculates a scene flow field from a plurality of spaces of an input image, clusters the plurality of spaces based on a scene flow, updates a probability vector map for clustered spaces, identifies a stati...