research
∙
09/13/2023
Motion-Bias-Free Feature-Based SLAM
For SLAM to be safely deployed in unstructured real world environments, ...
share
research
∙
09/11/2023
Robust Single Rotation Averaging Revisited
In this work, we propose a novel method for robust single rotation avera...
research
∙
08/22/2023
Faster Optimization in S-Graphs Exploiting Hierarchy
3D scene graphs hierarchically represent the environment appropriately o...
research
∙
08/21/2023
LightDepth: Single-View Depth Self-Supervision from Illumination Decline
Single-view depth estimation can be remarkably effective if there is eno...
research
∙
07/24/2023
GNSS-stereo-inertial SLAM for arable farming
The accelerating pace in the automation of agricultural tasks demands hi...
research
∙
06/29/2023
The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenes
Estimating camera motion in deformable scenes poses a complex and open r...
research
∙
05/20/2023
DAC: Detector-Agnostic Spatial Covariances for Deep Local Features
Current deep visual local feature detectors do not model the spatial unc...
research
∙
05/16/2023
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans
In this paper, we propose a solution for graph-based global robot simult...
research
∙
03/03/2023
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs
In this paper, we propose a solution for legged robot localization using...
research
∙
12/22/2022
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
In this paper, we present an evolved version of the Situational Graphs, ...
research
∙
12/10/2022
What's Wrong with the Absolute Trajectory Error?
One of the main limitations of the commonly used Absolute Trajectory Err...
research
∙
11/24/2022
SfM-TTR: Using Structure from Motion for Test-Time Refinement of Single-View Depth Networks
Estimating a dense depth map from a single view is geometrically ill-pos...
research
∙
11/16/2022
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments
Mobile robots extract information from its environment to understand the...
research
∙
06/03/2022
RODIAN: Robustified Median
We propose a robust method for averaging numbers contaminated by a large...
research
∙
04/29/2022
EndoMapper dataset of complete calibrated endoscopy procedures
Computer-assisted systems are becoming broadly used in medicine. In endo...
research
∙
02/24/2022
Situational Graphs for Robot Navigation in Structured Indoor Environments
Autonomous mobile robots should be aware of their situation, understood ...
research
∙
02/03/2022
Danish Airs and Grounds: A Dataset for Aerial-to-Street-Level Place Recognition and Localization
Place recognition and visual localization are particularly challenging i...
research
∙
02/01/2022
A Model for Multi-View Residual Covariances based on Perspective Deformation
In this work, we derive a model for the covariance of the visual residua...
research
∙
01/25/2022
Jacobian Computation for Cumulative B-splines on SE(3) and Application to Continuous-Time Object Tracking
In this paper we propose a method that estimates the SE(3) continuous tr...
research
∙
12/16/2021
On the Uncertain Single-View Depths in Endoscopies
Estimating depth from endoscopic images is a pre-requisite for a wide se...
research
∙
11/16/2021
HARA: A Hierarchical Approach for Robust Rotation Averaging
We propose a novel hierarchical approach for multiple rotation averaging...
research
∙
04/29/2021
Bayesian Deep Networks for Supervised Single-View Depth Learning
Uncertainty quantification is a key aspect in robotic perception, as ove...
research
∙
03/30/2021
Endo-Depth-and-Motion: Localization and Reconstruction in Endoscopic Videos using Depth Networks and Photometric Constraints
Estimating a scene reconstruction and the camera motion from in-body vid...
research
∙
11/25/2020
Bayesian Triplet Loss: Uncertainty Quantification in Image Retrieval
Uncertainty quantification in image retrieval is crucial for downstream ...
research
∙
11/23/2020
Rotation-Only Bundle Adjustment
We propose a novel method for estimating the global rotations of the cam...
research
∙
09/30/2020
DOT: Dynamic Object Tracking for Visual SLAM
In this paper we present DOT (Dynamic Object Tracking), a front-end that...
research
∙
08/04/2020
Robust Uncertainty-Aware Multiview Triangulation
We propose a robust and efficient method for multiview triangulation and...
research
∙
08/04/2020
Geometric Interpretations of the Normalized Epipolar Error
In this work, we provide geometric interpretations of the normalized epi...
research
∙
04/01/2020
Robust Single Rotation Averaging
We propose a novel method for single rotation averaging using the Weiszf...
research
∙
03/19/2020
LoCoQuad: A Low-Cost Arachnoid Quadruped Robot for Research and Education
Developing real robotic systems requires a tight integration of mechanic...
research
∙
01/19/2020
RGB-D Odometry and SLAM
The emergence of modern RGB-D sensors had a significant impact in many a...
research
∙
07/27/2019
Triangulation: Why Optimize?
For decades, it has been widely accepted that the gold standard for two-...
research
∙
04/03/2019
CAM-Convs: Camera-Aware Multi-Scale Convolutions for Single-View Depth
Single-view depth estimation suffers from the problem that a network tra...
research
∙
03/21/2019
Closed-Form Optimal Triangulation Based on Angular Errors
In this paper, we study closed-form optimal solutions to two-view triang...
research
∙
03/19/2019
Corners for Layout: End-to-End Layout Recovery from 360 Images
The problem of 3D layout recovery in indoor scenes has been a core resea...
research
∙
02/25/2019
Condition-Invariant Multi-View Place Recognition
Visual place recognition is particularly challenging when places suffer ...
research
∙
09/17/2018
The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments
In this paper we present The Rosario Dataset, a collection of sensor dat...
research
∙
08/20/2018
Single-View Place Recognition under Seasonal Changes
Single-view place recognition, that we can define as finding an image th...
research
∙
07/26/2018
Loosely-Coupled Semi-Direct Monocular SLAM
We propose a novel semi-direct approach for monocular simultaneous local...
research
∙
06/14/2018
DynSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes
The assumption of scene rigidity is typical in SLAM algorithms. Such a s...
research
∙
11/22/2016
