5 papers
Generation of Vectorized Maps Beyond Vehicle View
Clara Gomez, Alberto Jaenal, Antonio Artuñedo +2
Autonomous driving relies on High Definition (HD) maps for safe navigation. Traditional HD maps construction is costly in hardware, data and human resources, which together with it…
VI3: Grounding Pretrained 3D Foundation Models with Inertial Cues
Ernesto Lozano, Alberto Jaenal, Javier Civera
3D foundation models (3DFMs) excel at predicting camera poses and dense depth from multiple views of a scene, showcasing strong zero-shot generalization. However, as metric scale i…
Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features
Marcus Valtonen Örnhag, Alberto Jaenal, Stefan Adalbjörnsson
Inertial measurement units (IMUs) are now standard in most consumer devices, such as smartphones, drones, and extended reality (XR) headsets. By fusing visual and inertial data, lo…
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno +1
Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient scalability with robustness against visual appearance changes and metri…
ColabSfM: Collaborative Structure-from-Motion by Point Cloud Registration
Johan Edstedt, André Mateus, Alberto Jaenal
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions.…