233 citations · 233 across the 4 of their papers we have counts for
6 papers
Transformer-based Monte Carlo Localization in Construction Meshes
Linus Kramer, William Talbot, Olga Vysotska +1
To be able to perform inspection or digitization tasks, mobile robots on construction sites must be able to localize themselves reliably with respect to a global reference frame th…
SG2Loc: Sequential Visual Localization on 3D Scene Graphs
Nicole Damblon, Olga Vysotska, Federico Tombari +2
Visual localization in complex indoor environments remains a critical challenge for robotics and AR applications. Sequential localization, where pose estimates are refined over tim…
Diffusion Based Robust LiDAR Place Recognition
Benjamin Krummenacher, Jonas Frey, Turcan Tuna +2
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly c…
SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs
Yang Miao, Francis Engelmann, Olga Vysotska +3
We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multip…
OverlapNet: Loop Closing for LiDAR-based SLAM
Xieyuanli Chen, Thomas Läbe, Andres Milioto +5
Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based o…
Adaptive Robust Kernels for Non-Linear Least Squares Problems
Nived Chebrolu, Thomas Läbe, Olga Vysotska +2
State estimation is a key ingredient in most robotic systems. Often, state estimation is performed using some form of least squares minimization. Basically, all error minimization…