32 citations · 40 across the 8 of their papers we have counts for
8 papers
Open-Structure: Structural Benchmark Dataset for SLAM Algorithms
Yanyan Li, Zhao Guo, Ze Yang +3
This paper presents Open-Structure, a novel benchmark dataset for evaluating visual odometry and SLAM methods. Compared to existing public datasets that primarily offer raw images,…
E-Graph: Minimal Solution for Rigid Rotation with Extensibility Graphs
Yanyan Li, Federico Tombari
Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However,…
Semantic Dense Reconstruction with Consistent Scene Segments
Yingcai Wan, Yanyan Li, Yingxuan You +3
In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consi…
SRH-Net: Stacked Recurrent Hourglass Network for Stereo Matching
Hongzhi Du, Yanyan Li, Yanbiao Sun +2
The cost aggregation strategy shows a crucial role in learning-based stereo matching tasks, where 3D convolutional filters obtain state of the art but require intensive computation…
ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames
Raza Yunus, Yanyan Li, Federico Tombari
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. P…
RGB-D SLAM with Structural Regularities
Yanyan Li, Raza Yunus, Nikolas Brasch +2
This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that a…
Co-Planar Parametrization for Stereo-SLAM and Visual-Inertial Odometry
Xin Li, Yanyan Li, Evin Pınar Örnek +2
This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which…
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments
Yanyan Li, Nikolas Brasch, Yida Wang +2
In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouple…