14 citations · 26 across the 11 of their papers we have counts for
11 papers
Thegra: Graph-based SLAM for Thermal Imagery
Anastasiia Kornilova, Ivan Moskalenko, Arabella Gromova +2
Thermal imaging provides a practical sensing modality for visual SLAM in visually degraded environments such as low illumination, smoke, or adverse weather. However, thermal imager…
Visual place recognition for aerial imagery: A survey
Ivan Moskalenko, Anastasiia Kornilova, Gonzalo Ferrer
Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNS…
TT-SDF2PC: Registration of Point Cloud and Compressed SDF Directly in the Memory-Efficient Tensor Train Domain
Alexey I. Boyko, Anastasiia Kornilova, Rahim Tariverdizadeh +4
This paper addresses the following research question: ``can one compress a detailed 3D representation and use it directly for point cloud registration?''. Map compression of the sc…
Eigen-Factors a Bilevel Optimization for Plane SLAM of 3D Point Clouds
Gonzalo Ferrer, Dmitrii Iarosh, Anastasiia Kornilova
Modern depth sensors can generate a huge number of 3D points in few seconds to be latter processed by Localization and Mapping algorithms. Ideally, these algorithms should handle e…
EVOLIN Benchmark: Evaluation of Line Detection and Association
Kirill Ivanov, Gonzalo Ferrer, Anastasiia Kornilova
Lines are interesting geometrical features commonly seen in indoor and urban environments. There is missing a complete benchmark where one can evaluate lines from a sequential stre…
Dominating Set Database Selection for Visual Place Recognition
Anastasiia Kornilova, Ivan Moskalenko, Timofei Pushkin +3
This paper presents an approach for creating a visual place recognition (VPR) database for localization in indoor environments from RGBD scanning sequences. The proposed approach i…
Best Axes Composition Extended: Multiple Gyroscopes and Accelerometers Data Fusion to Reduce Systematic Error
Marsel Faizullin, Gonzalo Ferrer
Multiple rigidly attached Inertial Measurement Unit (IMU) sensors provide a richer flow of data compared to a single IMU. State-of-the-art methods follow a probabilistic model of I…
T4DT: Tensorizing Time for Learning Temporal 3D Visual Data
Mikhail Usvyatsov, Rafael Ballester-Rippoll, Lina Bashaeva +3
Unlike 2D raster images, there is no single dominant representation for 3D visual data processing. Different formats like point clouds, meshes, or implicit functions each have thei…
SmartPortraits: Depth Powered Handheld Smartphone Dataset of Human Portraits for State Estimation, Reconstruction and Synthesis
Anastasiia Kornilova, Marsel Faizullin, Konstantin Pakulev +6
We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality…
EVOPS Benchmark: Evaluation of Plane Segmentation from RGBD and LiDAR Data
Anastasiia Kornilova, Dmitrii Iarosh, Denis Kukushkin +4
This paper provides the EVOPS dataset for plane segmentation from 3D data, both from RGBD images and LiDAR point clouds. We have designed two annotation methodologies (RGBD and LiD…
SmartDepthSync: Open Source Synchronized Video Recording System of Smartphone RGB and Depth Camera Range Image Frames with Sub-millisecond Precision
Marsel Faizullin, Anastasiia Kornilova, Azat Akhmetyanov +3
Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becom…