22 citations · 22 across the 5 of their papers we have counts for
11 papers · 1 filter
Sparse Pose Graph Optimization in Cycle Space
Fang Bai, Teresa Vidal-Calleja, Giorgio Grisetti
The state-of-the-art modern pose-graph optimization (PGO) systems are vertex based. In this context the number of variables might be high, albeit the number of cycles in the graph…
MD-SLAM: Multi-cue Direct SLAM
Luca Di Giammarino, Leonardo Brizi, Tiziano Guadagnino +2
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily de…
Visual Place Recognition using LiDAR Intensity Information
Luca Di Giammarino, Irvin Aloise, Cyrill Stachniss +1
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of ro…
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Mirco Colosi, Irvin Aloise, Tiziano Guadagnino +4
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to…
Least Squares Optimization: from Theory to Practice
Giorgio Grisetti, Tiziano Guadagnino, Irvin Aloise +3
Nowadays, Non-Linear Least-Squares embodies the foundation of many Robotics and Computer Vision systems. The research community deeply investigated this topic in the last years, an…
Adding Cues to Binary Feature Descriptors for Visual Place Recognition
Dominik Schlegel, Giorgio Grisetti
In this paper we propose an approach to embed continuous and selector cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending e…