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05/11/2023
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Scaling to arbitrarily large bundle adjustment problems requires data an...
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07/19/2022
Theseus: A Library for Differentiable Nonlinear Optimization
We present Theseus, an efficient application-agnostic open source librar...
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04/05/2022
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception
We present iSDF, a continual learning system for real-time signed distan...
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02/07/2022
A Robot Web for Distributed Many-Device Localisation
We show that a distributed network of robots or other devices which make...
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09/13/2021
Incremental Abstraction in Distributed Probabilistic SLAM Graphs
Scene graphs represent the key components of a scene in a compact and se...
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07/05/2021
A visual introduction to Gaussian Belief Propagation
In this article, we present a visual introduction to Gaussian Belief Pro...
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03/23/2021
iMAP: Implicit Mapping and Positioning in Real-Time
We show for the first time that a multilayer perceptron (MLP) can serve ...
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03/06/2020
Bundle Adjustment on a Graph Processor
Graph processors such as Graphcore's Intelligence Processing Unit (IPU) ...
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10/30/2019