6 papers
Accuracy potential of visual localization exploiting high-end street-level imagery
Jonas Meyer, Stephan Nebiker, Pascal Theiler +1
Accurate and reliable pose information with respect to a reference frame is increasingly demanded across applications such as autonomous navigation, surveying, robotics, and augmen…
An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments
Wei Zhang, Vincent Ress, David Skuddis +2
RTK-SLAM systems integrate simultaneous localization and mapping (SLAM) with real-time kinematic (RTK) GNSS positioning, promising both relative consistency and globally referenced…
BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Images
David Skuddis, Vincent Ress, Wei Zhang +2
We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverag…
VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM
Zihan Zhu, Wei Zhang, Moyang Li +3
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM…
HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction
Wei Zhang, Qing Cheng, David Skuddis +3
We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based S…
3D Gaussian Splatting aided Localization for Large and Complex Indoor-Environments
Vincent Ress, Jonas Meyer, Wei Zhang +3
The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are s…