5 papers
Visible Structure Retrieval for Lightweight Image-Based Relocalisation
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D…
ACE-G: Improving Generalization of Scene Coordinate Regression Through Query Pre-Training
Leonard Bruns, Axel Barroso-Laguna, Tommaso Cavallari +4
Scene coordinate regression (SCR) has established itself as a promising learning-based approach to visual relocalization. After mere minutes of scene-specific training, SCR models…
Neural Graph Map: Dense Mapping with Efficient Loop Closure Integration
Leonard Bruns, Jun Zhang, Patric Jensfelt
Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and lim…
Transitional Grid Maps: Joint Modeling of Static and Dynamic Occupancy
José Manuel Gaspar Sánchez, Leonard Bruns, Jana Tumova +2
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measure…
Conditional Variational Autoencoders for Probabilistic Pose Regression
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the…