31 citations · 62 across the 5 of their papers we have counts for
8 papers
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno +1
Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient scalability with robustness against visual appearance changes and metri…
Doppler-only Single-scan 3D Vehicle Odometry
Andres Galeote-Luque, Vladimír Kubelka, Martin Magnusson +2
We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scen…
Robotic Gas Source Localization with Probabilistic Mapping and Online Dispersion Simulation
Pepe Ojeda, Javier Monroy, Javier Gonzalez-Jimenez
Gas source localization (GSL) with an autonomous robot is a problem with many prospective applications, from finding pipe leaks to emergency-response scenarios. In this work, we pr…
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems
David Zuñiga-Noël, Francisco-Angel Moreno, Javier Gonzalez-Jimenez
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in…
Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras
Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez
This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-w…
Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots
David Zuñiga-Noël, Jose-Raul Ruiz-Sarmiento, Ruben Gomez-Ojeda +1
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformati…
Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments
Ruben Gomez-Ojeda, Zichao Zhang, Javier Gonzalez-Jimenez +1
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in th…
PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments
Ruben Gomez-Ojeda, David Zuñiga-Noël, Francisco-Angel Moreno +2
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it i…