5 papers · 1 filter
MonoEM-GS: Monocular Expectation-Maximization Gaussian Splatting SLAM
Evgenii Kruzhkov, Sven Behnke
Feed-forward geometric foundation models can infer dense point clouds and camera motion directly from RGB streams, providing priors for monocular SLAM. However, their predictions a…
LiLMaps: Learnable Implicit Language Maps
Evgenii Kruzhkov, Sven Behnke
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to hav…
Hierarchical Pose Estimation and Mapping with Multi-Scale Neural Feature Fields
Evgenii Kruzhkov, Alena Savinykh, Sven Behnke
Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popula…
LiDAR-based Registration against Georeferenced Models for Globally Consistent Allocentric Maps
Jan Quenzel, Linus T. Mallwitz, Benedikt T. Arnold +1
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. How…
MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion
Arul Selvam Periyasamy, Sven Behnke
Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perf…