160 citations · 628 across the 19 of their papers we have counts for
6 papers · 1 filter
CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations
Hidenobu Matsuki, Raluca Scona, Jan Czarnowski +1
We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accura…
A visual introduction to Gaussian Belief Propagation
Joseph Ortiz, Talfan Evans, Andrew J. Davison
In this article, we present a visual introduction to Gaussian Belief Propagation (GBP), an approximate probabilistic inference algorithm that operates by passing messages between t…
SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks
Zoe Landgraf, Raluca Scona, Tristan Laidlow +3
By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion.…
In-Place Scene Labelling and Understanding with Implicit Scene Representation
Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger +1
Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes.…
iMAP: Implicit Mapping and Positioning in Real-Time
Edgar Sucar, Shikun Liu, Joseph Ortiz +1
We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trai…
End-to-End Egospheric Spatial Memory
Daniel Lenton, Stephen James, Ronald Clark +1
Spatial memory, or the ability to remember and recall specific locations and objects, is central to autonomous agents' ability to carry out tasks in real environments. However, mos…