4 papers
HETA++: Global Structure-from-Motion with Hybrid Explicit Translation Averaging
Peilin Tao, Hainan Cui, Mengqi Rong +1
Global Structure-from-Motion (SfM) offers advantages over incremental methods in terms of efficiency and error distribution. However, the task of translation averaging remains chal…
Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping
Peilin Tao, Chong Cheng, Yuansen Du +8
Long-horizon online visual mapping is a core capability for robot perception, requiring continuous camera-motion and scene-geometry estimation from visual streams under bounded mem…
MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motion
Peilin Tao, Hainan Cui, Diantao Tu +1
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose co…
Incremental Rotation Averaging Revisited
Xiang Gao, Hainan Cui, Yangdong Liu +1
In order to further advance the accuracy and robustness of the incremental parameter estimation-based rotation averaging methods, in this paper, a new member of the Incremental Rot…