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Augmented Reality without Borders: Achieving Precise Localization Without Maps
Albert Gassol Puigjaner, Irvin Aloise, Patrik Schmuck
Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accura…
Visual Place Recognition using LiDAR Intensity Information
Luca Di Giammarino, Irvin Aloise, Cyrill Stachniss +1
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of ro…
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Mirco Colosi, Irvin Aloise, Tiziano Guadagnino +4
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to…
Least Squares Optimization: from Theory to Practice
Giorgio Grisetti, Tiziano Guadagnino, Irvin Aloise +3
Nowadays, Non-Linear Least-Squares embodies the foundation of many Robotics and Computer Vision systems. The research community deeply investigated this topic in the last years, an…
Matrix Difference in Pose-Graph Optimization
Irvin Aloise, Giorgio Grisetti
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both…