73 citations · 77 across the 4 of their papers we have counts for
5 papers
ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology
Julio A. Placed, Juan J. Gómez Rodríguez, Juan D. Tardós +1
Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in 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…
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…
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
Juan J. Gómez Rodríguez, José Lamarca, Javier Morlana +2
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM…
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…