4 papers
HexVIO: Towards All-Day Stereo-Inertial Tracking Through Commodity DSPs
Patrick Wolf, Mateo de Mayo, Daniel Cremers
The ability of a device to localize itself within its surroundings is a fundamental prerequisite for spatial computing. Visual-inertial odometry (VIO) has proven to be a cost-effec…
VkVIO: Cross-platform GPU Acceleration for Visual-Inertial Odometry with Vulkan
Ole Hoffmann, Mateo de Mayo, Daniel Cremers
Perception in robotics and XR fundamentally relies on good state estimation. Visual-inertial odometry (VIO) and Simultaneous Localization and Mapping (VI-SLAM) are proven ways of a…
Stipple: Real-Time Incremental Gaussian Splatting with Visual-Inertial Tracking
Kilian Northoff, Mateo de Mayo, Daniel Cremers
3D Gaussian Splatting (3DGS) provides efficient rendering of photo-realistic scenes, but its heavy preprocessing and training steps make it a poor fit for applications that require…
VOCA: Visual Odometry with Codec Awareness
Nouri Alexander Hilscher, Mateo de Mayo, Dominik Muhle +2
Camera pose estimation from image streams is a critical component of spatial world models that integrate perception into planning and decision-making. Nearly all Visual Odometry (V…