b'Javier Civera'

research

∙ 09/13/2023

Motion-Bias-Free Feature-Based SLAM

For SLAM to be safely deployed in unstructured real world environments, ...

0 Alejandro Fontan, et al. ∙

research

∙ 09/11/2023

Robust Single Rotation Averaging Revisited

In this work, we propose a novel method for robust single rotation avera...

0 Seong Hun Lee, et al. ∙

research

∙ 08/22/2023

Faster Optimization in S-Graphs Exploiting Hierarchy

3D scene graphs hierarchically represent the environment appropriately o...

0 Hriday Bavle, et al. ∙

research

∙ 08/21/2023

LightDepth: Single-View Depth Self-Supervision from Illumination Decline

Single-view depth estimation can be remarkably effective if there is eno...

0 Javier Rodríguez-Puigvert, et al. ∙

research

∙ 07/24/2023

GNSS-stereo-inertial SLAM for arable farming

The accelerating pace in the automation of agricultural tasks demands hi...

0 Javier Cremona, et al. ∙

research

∙ 06/29/2023

The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenes

Estimating camera motion in deformable scenes poses a complex and open r...

0 David Recasens, et al. ∙

research

∙ 05/20/2023

DAC: Detector-Agnostic Spatial Covariances for Deep Local Features

Current deep visual local feature detectors do not model the spatial unc...

2 Javier Tirado-Garín, et al. ∙

research

∙ 05/16/2023

Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans

In this paper, we propose a solution for graph-based global robot simult...

0 Muhammad Shaheer, et al. ∙

research

∙ 03/03/2023

Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs

In this paper, we propose a solution for legged robot localization using...

12 Muhammad Shaheer, et al. ∙

research

∙ 12/22/2022

S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations

In this paper, we present an evolved version of the Situational Graphs, ...

12 Hriday Bavle, et al. ∙

research

∙ 12/10/2022

What's Wrong with the Absolute Trajectory Error?

One of the main limitations of the commonly used Absolute Trajectory Err...

11 Seong Hun Lee, et al. ∙

research

∙ 11/24/2022

SfM-TTR: Using Structure from Motion for Test-Time Refinement of Single-View Depth Networks

Estimating a dense depth map from a single view is geometrically ill-pos...

6 Sergio Izquierdo, et al. ∙

research

∙ 11/16/2022

Advanced Situational Graphs for Robot Navigation in Structured Indoor Environments

Mobile robots extract information from its environment to understand the...

15 Hriday Bavle, et al. ∙

research

∙ 06/03/2022

RODIAN: Robustified Median

We propose a robust method for averaging numbers contaminated by a large...

0 Seong Hun Lee, et al. ∙

research

∙ 04/29/2022

EndoMapper dataset of complete calibrated endoscopy procedures

Computer-assisted systems are becoming broadly used in medicine. In endo...

13 Pablo Azagra, et al. ∙

research

∙ 02/24/2022

Situational Graphs for Robot Navigation in Structured Indoor Environments

Autonomous mobile robots should be aware of their situation, understood ...

13 Hriday Bavle, et al. ∙

research

∙ 02/03/2022

Danish Airs and Grounds: A Dataset for Aerial-to-Street-Level Place Recognition and Localization

Place recognition and visual localization are particularly challenging i...

20 Andrea Vallone, et al. ∙

research

∙ 02/01/2022

A Model for Multi-View Residual Covariances based on Perspective Deformation

In this work, we derive a model for the covariance of the visual residua...

1 Alejandro Fontan, et al. ∙

research

∙ 01/25/2022

Jacobian Computation for Cumulative B-splines on SE(3) and Application to Continuous-Time Object Tracking

In this paper we propose a method that estimates the SE(3) continuous tr...

2 Javier Tirado, et al. ∙

research

∙ 12/16/2021

On the Uncertain Single-View Depths in Endoscopies

Estimating depth from endoscopic images is a pre-requisite for a wide se...

7 Javier Rodríguez-Puigvert, et al. ∙

research

∙ 11/16/2021

HARA: A Hierarchical Approach for Robust Rotation Averaging

We propose a novel hierarchical approach for multiple rotation averaging...

0 Seong Hun Lee, et al. ∙

research

∙ 04/29/2021

Bayesian Deep Networks for Supervised Single-View Depth Learning

Uncertainty quantification is a key aspect in robotic perception, as ove...

5 Javier Rodríguez-Puigvert, et al. ∙

research

∙ 03/30/2021

Endo-Depth-and-Motion: Localization and Reconstruction in Endoscopic Videos using Depth Networks and Photometric Constraints

Estimating a scene reconstruction and the camera motion from in-body vid...

10 David Recasens, et al. ∙

research

∙ 11/25/2020

Bayesian Triplet Loss: Uncertainty Quantification in Image Retrieval

Uncertainty quantification in image retrieval is crucial for downstream ...

12 Frederik Warburg, et al. ∙

research

∙ 11/23/2020

Rotation-Only Bundle Adjustment

We propose a novel method for estimating the global rotations of the cam...

6 Seong Hun Lee, et al. ∙

research

∙ 09/30/2020

DOT: Dynamic Object Tracking for Visual SLAM

In this paper we present DOT (Dynamic Object Tracking), a front-end that...

0 Irene Ballester, et al. ∙

research

∙ 08/04/2020

Robust Uncertainty-Aware Multiview Triangulation

We propose a robust and efficient method for multiview triangulation and...

0 Seong Hun Lee, et al. ∙

research

∙ 08/04/2020

Geometric Interpretations of the Normalized Epipolar Error

In this work, we provide geometric interpretations of the normalized epi...

0 Seong Hun Lee, et al. ∙

research

∙ 04/01/2020

Robust Single Rotation Averaging

We propose a novel method for single rotation averaging using the Weiszf...

0 Seong Hun Lee, et al. ∙

research

∙ 03/19/2020

LoCoQuad: A Low-Cost Arachnoid Quadruped Robot for Research and Education

Developing real robotic systems requires a tight integration of mechanic...

0 Manuel Bernal, et al. ∙

research

∙ 01/19/2020

RGB-D Odometry and SLAM

The emergence of modern RGB-D sensors had a significant impact in many a...

0 Javier Civera, et al. ∙

research

∙ 07/27/2019

Triangulation: Why Optimize?

For decades, it has been widely accepted that the gold standard for two-...

0 Seong Hun Lee, et al. ∙

research

∙ 04/03/2019

CAM-Convs: Camera-Aware Multi-Scale Convolutions for Single-View Depth

Single-view depth estimation suffers from the problem that a network tra...

0 José M. Fácil, et al. ∙

research

∙ 03/21/2019

Closed-Form Optimal Triangulation Based on Angular Errors

In this paper, we study closed-form optimal solutions to two-view triang...

0 Seong Hun Lee, et al. ∙

research

∙ 03/19/2019

Corners for Layout: End-to-End Layout Recovery from 360 Images

The problem of 3D layout recovery in indoor scenes has been a core resea...

2 Clara Fernandez-Labrador, et al. ∙

research

∙ 02/25/2019

Condition-Invariant Multi-View Place Recognition

Visual place recognition is particularly challenging when places suffer ...

0 José M. Fácil, et al. ∙

research

∙ 09/17/2018

The Rosario Dataset: Multisensor Data for Localization and Mapping in Agricultural Environments

In this paper we present The Rosario Dataset, a collection of sensor dat...

0 Taihú Pire, et al. ∙

research

∙ 08/20/2018

Single-View Place Recognition under Seasonal Changes

Single-view place recognition, that we can define as finding an image th...

0 Daniel Olid, et al. ∙

research

∙ 07/26/2018

Loosely-Coupled Semi-Direct Monocular SLAM

We propose a novel semi-direct approach for monocular simultaneous local...

8 Seong Hun Lee, et al. ∙

research

∙ 06/14/2018

DynSLAM: Tracking, Mapping and Inpainting in Dynamic Scenes

The assumption of scene rigidity is typical in SLAM algorithms. Such a s...

6 Berta Bescós, et al. ∙

research

∙ 11/22/2016

Single-View and Multi-View Depth Fusion

Dense and accurate 3D mapping from a monocular sequence is a key technol...

0 José M. Fácil, et al. ∙

Javier Civera

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