167 citations · 169 across the 5 of their papers we have counts for
6 papers
Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry
Joaquin Caballero, Emilio Garcia-Fidalgo, Alberto Ortiz +1
Despite significant progress in odometry estimation, long-term drift remains a fundamental limitation of incremental pose integration, especially in large-scale or loop-free enviro…
MSC-VO: Exploiting Manhattan and Structural Constraints for Visual Odometry
Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Alberto Ortiz
Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point fea…
LiODOM: Adaptive Local Mapping for Robust LiDAR-Only Odometry
Emilio Garcia-Fidalgo, Joan P. Company-Corcoles, Francisco Bonnin-Pascual +1
In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typica…
LiPo-LCD: Combining Lines and Points for Appearance-based Loop Closure Detection
Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Alberto Ortiz
Visual SLAM approaches typically depend on loop closure detection to correct the inconsistencies that may arise during the map and camera trajectory calculations, typically making…
Evaluation of a Skill-based Control Architecture for a Visual Inspection-oriented Aerial Platform
Emilio Garcia-Fidalgo, Francisco Bonnin-Pascual, Joan P. Company-Corcoles +1
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship own…
iBoW-LCD: An Appearance-based Loop Closure Detection Approach using Incremental Bags of Binary Words
Emilio Garcia-Fidalgo, Alberto Ortiz
In this paper, we introduce iBoW-LCD, a novel appearance-based loop closure detection method. The presented approach makes use of an incremental Bag-of-Words (BoW) scheme based on…