4 papers
SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas
John Lambert, Yuguang Li, Ivaylo Boyadzhiev +6
We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely loc…
Graph-CoVis: GNN-based Multi-view Panorama Global Pose Estimation
Negar Nejatishahidin, Will Hutchcroft, Manjunath Narayana +5
In this paper, we address the problem of wide-baseline camera pose estimation from a group of 360 panoramas under upright-camera assumption. Recent work has demonstrated th…
Lifelong update of semantic maps in dynamic environments
Manjunath Narayana, Andreas Kolling, Lucio Nardelli +1
A robot understands its world through the raw information it senses from its surroundings. This raw information is not suitable as a shared representation between the robot and its…
View management for lifelong visual maps
Nandan Banerjee, Ryan C. Connolly, Dimitri Lisin +3
The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored. Clever algorithms, such as approximate…