9 papers
Visual Relocalization from Sparse Views in Aliased and Low-Texture Environments via Novel View Synthesis
Maria Peribañez, Javier Civera, Rudolph Triebel +1
Visual localization becomes extremely challenging in planetary-like terrains characterized by low texture, perceptual aliasing, harsh illumination, and sparse, weakly overlapping v…
Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data
Marcus G Müller, Wout Boerdijk, Maximilian Durner +5
Terrain understanding is fundamental for mobile robots operating in unstructured outdoor environments. Existing vision-based traversability estimation methods rely on robot-specifi…
TAPNext++: What's Next for Tracking Any Point (TAP)?
Sebastian Jung, Artem Zholus, Martin Sundermeyer +6
Tracking-Any-Point (TAP) models aim to track any point through a video which is a crucial task in AR/XR and robotics applications. The recently introduced TAPNext approach proposes…
Markerless Robot Detection and 6D Pose Estimation for Multi-Agent SLAM
Markus Rueggeberg, Maximilian Ulmer, Maximilian Durner +4
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association…
Finding NeMO: A Geometry-Aware Representation of Template Views for Few-Shot Perception
Sebastian Jung, Leonard Klüpfel, Rudolph Triebel +1
We present Neural Memory Object (NeMO), a novel object-centric representation that can be used to detect, segment and estimate the 6DoF pose of objects unseen during training using…
The S3LI Vulcano Dataset: A Dataset for Multi-Modal SLAM in Unstructured Planetary Environments
Riccardo Giubilato, Marcus Gerhard Müller, Marco Sewtz +3
We release the S3LI Vulcano dataset, a multi-modal dataset towards development and benchmarking of Simultaneous Localization and Mapping (SLAM) and place recognition algorithms tha…