4.2k citations · 4.2k across the 3 of their papers we have counts for
5 papers
Scale-aware direct monocular odometry
Carlos Campos, Juan D. Tardós
We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth informa…
DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM
Berta Bescos, Carlos Campos, Juan D. Tardós +1
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios inclu…
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez +2
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens…
Inertial-Only Optimization for Visual-Inertial Initialization
Carlos Campos, José M. M. Montiel, Juan D. Tardós
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly t…
Fast and Robust Initialization for Visual-Inertial SLAM
Carlos Campos, J. M. M. Montiel, Juan D. Tardós
Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper…