no code implementations • 5 Oct 2022 • Bardienus P Duisterhof, Yaoyu Hu, Si Heng Teng, Michael Kaess, Sebastian Scherer
An accurate calibration of the intrinsics and extrinsics is a critical pre-requisite for using the edge of a wide-angle lens for depth perception and odometry.
no code implementations • 20 Aug 2021 • Weikun Zhen, Huai Yu, Yaoyu Hu, Sebastian Scherer
We first present a unified representation based on quadrics, leading to a consistent and concise formulation.
no code implementations • 13 Mar 2021 • Yaoyu Hu, Wenshan Wang, Huai Yu, Weikun Zhen, Sebastian Scherer
Stereo reconstruction models trained on small images do not generalize well to high-resolution data.
2 code implementations • 31 Oct 2020 • Wenshan Wang, Yaoyu Hu, Sebastian Scherer
We present the first learning-based visual odometry (VO) model, which generalizes to multiple datasets and real-world scenarios and outperforms geometry-based methods in challenging scenes.
1 code implementation • 31 Mar 2020 • Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, Sebastian Scherer
We present a challenging dataset, the TartanAir, for robot navigation task and more.
Robotics
no code implementations • 23 Nov 2019 • Yaoyu Hu, Weikun Zhen, Sebastian Scherer
The proposed deep-learning assisted method is evaluated on the Middlebury dataset and high-resolution stereo images collected by our customized binocular stereo camera.
no code implementations • 25 Sep 2019 • Wenshan Wang, Yaoyu Hu, Sebastian Scherer
A visualization of the latent space demonstrates that our algorithm learns an effective abstraction of the long action sequences.
Hierarchical Reinforcement Learning reinforcement-learning +1