224 citations · 309 across the 11 of their papers we have counts for
11 papers
MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration
Yifu Wang, Yonhon Ng, Inkyu Sa +4
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially overlapped camera systems, named MAVIS. Our framework fully exploits the benefits…
Asynchronous Optimisation for Event-based Visual Odometry
Daqi Liu, Alvaro Parra, Yasir Latif +3
Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithm…
Fast Semantic-Assisted Outlier Removal for Large-scale Point Cloud Registration
Giang Truong, Huu Le, Alvaro Parra +3
With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is cor…
Spatiotemporal Registration for Event-based Visual Odometry
Daqi Liu, Alvaro Parra, Tat-Jun Chin
A useful application of event sensing is visual odometry, especially in settings that require high-temporal resolution. The state-of-the-art method of contrast maximisation recover…
Monocular Rotational Odometry with Incremental Rotation Averaging and Loop Closure
Chee-Kheng Chng, Alvaro Parra, Tat-Jun Chin +1
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and…
End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization
Bo Chen, Alvaro Parra, Jiewei Cao +2
Deep networks excel in learning patterns from large amounts of data. On the other hand, many geometric vision tasks are specified as optimization problems. To seamlessly combine de…
Satellite Pose Estimation with Deep Landmark Regression and Nonlinear Pose Refinement
Bo Chen, Jiewei Cao, Alvaro Parra +1
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, su…
Visual SLAM: Why Bundle Adjust?
Álvaro Parra, Tat-Jun Chin, Anders Eriksson +1
Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D ma…
A Practical Maximum Clique Algorithm for Matching with Pairwise Constraints
Álvaro Parra, Tat-Jun Chin, Frank Neumann +2
A popular paradigm for 3D point cloud registration is by extracting 3D keypoint correspondences, then estimating the registration function from the correspondences using a robust a…
Practical optimal registration of terrestrial LiDAR scan pairs
Zhipeng Cai, Tat-Jun Chin, Alvaro Parra Bustos +1
Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, le…
Guaranteed Outlier Removal for Point Cloud Registration with Correspondences
Álvaro Parra Bustos, Tat-Jun Chin
An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to cond…