17 citations · 22 across the 11 of their papers we have counts for
11 papers
Visible Structure Retrieval for Lightweight Image-Based Relocalisation
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D…
ACE-G: Improving Generalization of Scene Coordinate Regression Through Query Pre-Training
Leonard Bruns, Axel Barroso-Laguna, Tommaso Cavallari +4
Scene coordinate regression (SCR) has established itself as a promising learning-based approach to visual relocalization. After mere minutes of scene-specific training, SCR models…
Conditional Variational Autoencoders for Probabilistic Pose Regression
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the…
Neural Graph Map: Dense Mapping with Efficient Loop Closure Integration
Leonard Bruns, Jun Zhang, Patric Jensfelt
Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and lim…
Transitional Grid Maps: Joint Modeling of Static and Dynamic Occupancy
José Manuel Gaspar Sánchez, Leonard Bruns, Jana Tumova +2
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measure…
RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluation
Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed. This work provides an overview of the field in terms of methods, d…
A Probabilistic Framework for Visual Localization in Ambiguous Scenes
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a ch…
SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fields
Leonard Bruns, Patric Jensfelt
Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for…
SDF-based RGB-D Camera Tracking in Neural Scene Representations
Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate…
On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation
Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and…
Dispertio: Optimal Sampling for Safe Deterministic Sampling-Based Motion Planning
Luigi Palmieri, Leonard Bruns, Michael Meurer +1
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based mot…