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Long-Term Multi-Session 3D Reconstruction Under Substantial Appearance Change
Beverley Gorry, Tobias Fischer, Michael Milford +1
Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-fro…
Robust Scene Coordinate Regression via Geometrically-Consistent Global Descriptors
Son Tung Nguyen, Alejandro Fontan, Michael Milford +1
Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geomet…
FUSELOC: Fusing Global and Local Descriptors to Disambiguate 2D-3D Matching in Visual Localization
Son Tung Nguyen, Alejandro Fontan, Michael Milford +1
Hierarchical visual localization methods achieve state-of-the-art accuracy but require substantial memory as they need to store all database images. Direct 2D-3D matching requires…
VSLAM-LAB: A Comprehensive Framework for Visual SLAM Methods and Datasets
Alejandro Fontan, Tobias Fischer, Javier Civera +1
Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation…
Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAM
Alejandro Fontan, Javier Civera, Tobias Fischer +1
Evaluation is critical to both developing and tuning Structure from Motion (SfM) and Visual SLAM (VSLAM) systems, but is universally reliant on high-quality geometric ground truth…