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cs.RO2025
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…
cs.CV2025
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…
cs.RO2025
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…