52 citations · 84 across the 3 of their papers we have counts for
4 papers · 1 filter
Geometric-based Line Segment Tracking for HDR Stereo Sequences
Ruben Gomez-Ojeda, Javier Gonzalez-Jimenez
In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Rang…
Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments
Ruben Gomez-Ojeda, Zichao Zhang, Javier Gonzalez-Jimenez +1
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in th…
PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments
Ruben Gomez-Ojeda, David Zuñiga-Noël, Francisco-Angel Moreno +2
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it i…
Training a Convolutional Neural Network for Appearance-Invariant Place Recognition
Ruben Gomez-Ojeda, Manuel Lopez-Antequera, Nicolai Petkov +1
Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop c…