4 papers
Visual Localization Using Sparse Semantic 3D Map
Tianxin Shi, Shuhan Shen, Xiang Gao +1
Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, i…
Complete Scene Reconstruction by Merging Images and Laser Scans
Xiang Gao, Shuhan Shen, Lingjie Zhu +3
Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstru…
LDSO: Direct Sparse Odometry with Loop Closure
Xiang Gao, Rui Wang, Nikolaus Demmel +1
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct…
CSfM: Community-based Structure from Motion
Hainan Cui, Shuhan Shen, Xiang Gao +1
Structure-from-Motion approaches could be broadly divided into two classes: incremental and global. While incremental manner is robust to outliers, it suffers from error accumulati…