6 papers
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…
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…
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…
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…
S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAM
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer +2
The hierarchical structure of 3D scene graphs shows a high relevance for representations purposes, as it fits common patterns from man-made environments. But, additionally, the sem…
AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibration
Javier Tirado-GarÃn, Javier Civera
We present AnyCalib, a method for calibrating the intrinsic parameters of a camera from a single in-the-wild image, that is agnostic to the camera model. Current methods are predom…