5 papers
DefVINS: Visual-Inertial Odometry for Deformable Scenes
Samuel Cerezo, Javier Civera
Deformable scenes violate the rigidity assumptions underpinning classical visual--inertial odometry (VIO), often leading to over-fitting to local non-rigid motion or to severe came…
An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization
Samuel Cerezo, Seong Hun Lee, Javier Civera
In this letter, we present a closed-form initialization method that recovers the full visual-inertial state without nonlinear optimization. Unlike previous approaches that rely on…
GNSS-Inertial State Initialization Using Inter-Epoch Baseline Residuals
Samuel Cerezo, Javier Civera
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linea…
SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAM
Samuel Cerezo, Gaetano Meli, Tomás Berriel Martins +2
Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted a…
Camera Motion Estimation from RGB-D-Inertial Scene Flow
Samuel Cerezo, Javier Civera
In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow. Our goal is to accurately estimate t…