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cs.CV2026
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding…
cs.CV2025
REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation
Débora N. P. Oliveira, Joshua Knights, Sebastián Barbas Laina +3
Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point cloud…
cs.CV2025
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation
Joshua Knights, Sebastián Barbas Laina, Peyman Moghadam +1
This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We p…