6 papers
Resolution Where It Counts: Hash-based GPU-Accelerated 3D Reconstruction via Variance-Adaptive Voxel Grids
Lorenzo De Rebotti, Emanuele Giacomini, Giorgio Grisetti +1
Efficient and scalable 3D surface reconstruction from range data remains a core challenge in computer graphics and vision, particularly in real-time and resource-constrained scenar…
Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping
Emanuele Giacomini, Luca Di Giammarino, Lorenzo De Rebotti +2
LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight…
VBR: A Vision Benchmark in Rome
Leonardo Brizi, Emanuele Giacomini, Luca Di Giammarino +4
This paper presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visua…
CaLib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
Emanuele Giacomini, Leonardo Brizi, Luca Di Giammarino +3
In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this conte…
Photometric LiDAR and RGB-D Bundle Adjustment
Luca Di Giammarino, Emanuele Giacomini, Leonardo Brizi +2
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard i…
Enhancing LiDAR performance: Robust De-skewing Exclusively Relying on Range Measurements
Omar Salem, Emanuele Giacomini, Leonardo Brizi +2
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along direction…