6 citations · 21 across the 13 of their papers we have counts for
5 papers · 1 filter
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…
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Spectral Measurement Sparsification for Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under mem…
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and ro…