129 citations · 207 across the 23 of their papers we have counts for
13 papers · 1 filter
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited
Hyungtae Lim, Daebeom Kim, Gunhee Shin +5
While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theore…
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
Antoni Rosinol, John J. Leonard, Luca Carlone
We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances…
Probabilistic Volumetric Fusion for Dense Monocular SLAM
Antoni Rosinol, John J. Leonard, Luca Carlone
We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconst…
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization
Antoni Rosinol, Luca Carlone
Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly be…
Self-supervised Geometric Perception
Heng Yang, Wei Dong, Luca Carlone +1
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric mode…
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants
Jingnan Shi, Heng Yang, Luca Carlone
Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect da…