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09/19/2023
RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recovery
While showing promising results, recent RGB-D camera-based category-leve...
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08/17/2023
MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimation
We propose a novel framework for RGB-based category-level 6D object pose...
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07/24/2023
Revisiting Event-based Video Frame Interpolation
Dynamic vision sensors or event cameras provide rich complementary infor...
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07/23/2023
Scale jump-aware pose graph relaxation for monocular SLAM with re-initializations
Pose graph relaxation has become an indispensable addition to SLAM enabl...
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07/03/2023
Cross-modal Place Recognition in Image Databases using Event-based Sensors
Visual place recognition is an important problem towards global localiza...
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04/11/2023
Accelerating Globally Optimal Consensus Maximization in Geometric Vision
Branch-and-bound-based consensus maximization stands out due to its impo...
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12/18/2022
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem
Robots are traditionally bounded by a fixed embodiment during their oper...
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09/05/2022
Fast geometric trim fitting using partial incremental sorting and accumulation
We present an algorithmic contribution to improve the efficiency of robu...
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07/04/2022
VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
Event cameras have recently gained in popularity as they hold strong pot...
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07/04/2022
Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database
We present a new solution to the fine-grained retrieval of clean CAD mod...
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06/10/2022
Globally-Optimal Contrast Maximisation for Event Cameras
Event cameras are bio-inspired sensors that perform well in challenging ...
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05/25/2022
Spotlights: Probing Shapes from Spherical Viewpoints
Recent years have witnessed the surge of learned representations that di...
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03/08/2022
Globally-Optimal Event Camera Motion Estimation
Event cameras are bio-inspired sensors that perform well in HDR conditio...
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03/01/2022
FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR Localization
We present a novel framework for floor plan-based, full six degree-of-fr...
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03/01/2022
Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles
The motion of planar ground vehicles is often non-holonomic, and as a re...
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02/05/2022
DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions
We present a novel real-time visual odometry framework for a stereo setu...
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02/02/2022
Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
Multi-perspective cameras are quickly gaining importance in many applica...
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07/14/2021
Dynamic Event Camera Calibration
Camera calibration is an important prerequisite towards the solution of ...
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01/22/2021
Hybrid Rotation Averaging: A Globally Guaranteed Fast and Robust Rotation Averaging Approach
We address rotation averaging and its application to real-world 3D recon...
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12/15/2020
Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment
The present paper reviews the classical problem of free-form curve regis...
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02/19/2020
Globally optimal point set registration by joint symmetry plane fitting
The present work proposes a solution to the challenging problem of regis...
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09/23/2019
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
In this paper, we focus on the question: how might mobile robots take ad...
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07/23/2019
Deep-SLAM++: Object-level RGBD SLAM based on class-specific deep shape priors
In an effort to increase the capabilities of SLAM systems and produce ob...
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12/04/2018
The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment for Camera Pose Estimation
Determining the position and orientation of a calibrated camera from a s...
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10/30/2018
Fully automatic structure from motion with a spline-based environment representation
While the common environment representation in structure from motion is ...
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10/12/2018
An Algebraic-Geometric Approach to Shuffled Linear Regression
Shuffled linear regression is the problem of performing a linear regress...
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10/11/2018
Dense Object Reconstruction from RGBD Images with Embedded Deep Shape Representations
Most problems involving simultaneous localization and mapping can nowada...
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07/19/2018
Semi-Dense 3D Reconstruction with a Stereo Event Camera
Event cameras are bio-inspired sensors that offer several advantages, su...
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09/27/2017
Globally-Optimal Inlier Set Maximisation for Simultaneous Camera Pose and Feature Correspondence
Estimating the 6-DoF pose of a camera from a single image relative to a ...
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02/06/2017
Semi-Dense Visual Odometry for RGB-D Cameras Using Approximate Nearest Neighbour Fields
This paper presents a robust and efficient semi-dense visual odometry so...
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03/19/2016
