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cs.RO2023
Scale jump-aware pose graph relaxation for monocular SLAM with re-initializations
Runze Yuan, Ran Cheng, Lige Liu +2
Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise rel…
cs.RO2022
Incremental Semantic Localization using Hierarchical Clustering of Object Association Sets
Lan Hu, Zhongwei Luo, Runze Yuan +3
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on of…