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cs.RO2026
SCREP: Scene Coordinate Regression and Evidential Learning-based Perception-Aware Trajectory Generation
Juyeop Han, Lukas Lao Beyer, Guilherme V. Cavalheiro +1
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization method…
cs.RO2024
NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification
Juyeop Han, Lukas Lao Beyer, Guilherme V. Cavalheiro +1
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and…