1.3k citations · 1.6k across the 35 of their papers we have counts for
10 papers · 1 filter
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprisi…
What's Wrong with the Absolute Trajectory Error?
Seong Hun Lee, Javier Civera
One of the limitations of the commonly used Absolute Trajectory Error (ATE) is that it is highly sensitive to outliers. As a result, in the presence of just a few outliers, it ofte…
Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution. In our previous wo…
SfM-TTR: Using Structure from Motion for Test-Time Refinement of Single-View Depth Networks
Sergio Izquierdo, Javier Civera
Estimating a dense depth map from a single view is geometrically ill-posed, and state-of-the-art methods rely on learning depth's relation with visual appearance using deep neural…
RODIAN: Robustified Median
Seong Hun Lee, Javier Civera
We propose a robust method for averaging numbers contaminated by a large proportion of outliers. Our method, dubbed RODIAN, is inspired by the key idea of MINPRAN [1]: We assume th…
EndoMapper dataset of complete calibrated endoscopy procedures
Pablo Azagra, Carlos Sostres, Ángel Ferrandez +15
Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and…
Danish Airs and Grounds: A Dataset for Aerial-to-Street-Level Place Recognition and Localization
Andrea Vallone, Frederik Warburg, Hans Hansen +2
Place recognition and visual localization are particularly challenging in wide baseline configurations. In this paper, we contribute with the \emph{Danish Airs and Grounds} (DAG) d…
Situational Graphs for Robot Navigation in Structured Indoor Environments
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully mak…
A Model for Multi-View Residual Covariances based on Perspective Deformation
Alejandro Fontan, Laura Oliva, Javier Civera +1
In this work, we derive a model for the covariance of the visual residuals in multi-view SfM, odometry and SLAM setups. The core of our approach is the formulation of the residual…
Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
Javier Tirado, Javier Civera
In this paper we propose a method that estimates the continuous trajectories (orientation and translation) of the dynamic rigid objects present in a scene, from multiple RG…