6.7k citations · 18.1k across the 10 of their papers we have counts for
12 papers
NR-SLAM: Non-Rigid Monocular SLAM
Juan J. Gomez Rodriguez, J. M. M Montiel, Juan D. Tardos
In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The form…
Photometric single-view dense 3D reconstruction in endoscopy
Victor M. Batlle, J. M. M. Montiel, Juan D. Tardos
Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular image…
Tracking monocular camera pose and deformation for SLAM inside the human body
Juan J. Gomez Rodriguez, J. M. M Montiel, Juan D. Tardos
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic…
Direct and Sparse Deformable Tracking
Jose Lamarca, Juan J. Gomez Rodriguez, Juan D. Tardos +1
Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recov…
DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM
Berta Bescos, Carlos Campos, Juan D. Tardós +1
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios inclu…
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez +2
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens…
ORBSLAM-Atlas: a robust and accurate multi-map system
Richard Elvira, Juan D. Tardós, J. M. M. Montiel
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common reg…
Fast and Robust Initialization for Visual-Inertial SLAM
Carlos Campos, J. M. M. Montiel, Juan D. Tardós
Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper…
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
Raul Mur-Artal, Juan D. Tardos
We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-tim…
Visual-Inertial Monocular SLAM with Map Reuse
Raul Mur-Artal, Juan D. Tardos
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustnes…
Real-time Monocular Object SLAM
Dorian Gálvez-López, Marta Salas, Juan D. Tardós +1
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that e…
ORB-SLAM: a Versatile and Accurate Monocular SLAM System
Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos
This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe…