197 citations · 292 across the 54 of their papers we have counts for
6 papers · 1 filter
SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping
Thien-Minh Nguyen, Daniel Duberg, Patric Jensfelt +2
While feature association to a global map has significant benefits, to keep the computations from growing exponentially, most lidar-based odometry and mapping methods opt to associ…
Semantic 3D Grid Maps for Autonomous Driving
Ajinkya Khoche, Maciej K Wozniak, Daniel Duberg +1
Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional…
SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fields
Leonard Bruns, Patric Jensfelt
Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for…
SDF-based RGB-D Camera Tracking in Neural Scene Representations
Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate…
FloorGenT: Generative Vector Graphic Model of Floor Plans for Robotics
Ludvig Ericson, Patric Jensfelt
Floor plans are the basis of reasoning in and communicating about indoor environments. In this paper, we show that by modelling floor plans as sequences of line segments seen from…
On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation
Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and…