384 citations · 915 across the 7 of their papers we have counts for
4 papers · 1 filter
Long-term Visual Map Sparsification with Heterogeneous GNN
Ming-Fang Chang, Yipu Zhao, Rajvi Shah +3
We address the problem of map sparsification for long-term visual localization. For map sparsification, a commonly employed assumption is that the pre-build map and the later captu…
The Replica Dataset: A Digital Replica of Indoor Spaces
Julian Straub, Thomas Whelan, Lingni Ma +27
We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-d…
Direct Sparse Odometry
Jakob Engel, Vladlen Koltun, Daniel Cremers
We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of…
A Photometrically Calibrated Benchmark For Monocular Visual Odometry
Jakob Engel, Vladyslav Usenko, Daniel Cremers
We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of vid…