FocusTune: Tuning Visual Localization through Focus-Guided Sampling

1 code implementation • 6 Nov 2023 • Son Tung Nguyen, Alejandro Fontan, Michael Milford, Tobias Fischer

We propose FocusTune, a focus-guided sampling technique to improve the performance of visual localization algorithms.

regression Visual Localization

Motion-Bias-Free Feature-Based SLAM

1 code implementation • 13 Sep 2023 • Alejandro Fontan, Javier Civera, Michael Milford

In this paper we show that SLAM commutativity, that is, consistency in trajectory estimates on forward and reverse traverses of the same route, is a significant issue for the state of the art.

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

no code implementations • 1 Feb 2022 • Alejandro Fontan, Laura Oliva, Javier Civera, Rudolph Triebel

In this work, we derive a model for the covariance of the visual residuals in multi-view SfM, odometry and SLAM setups.

DOT: Dynamic Object Tracking for Visual SLAM

no code implementations • 30 Sep 2020 • Irene Ballester, Alejandro Fontan, Javier Civera, Klaus H. Strobl, Rudolph Triebel

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments.

Instance Segmentation Object +3

Information-Driven Direct RGB-D Odometry

no code implementations • CVPR 2020 • Alejandro Fontan, Javier Civera, Rudolph Triebel

This paper presents an information-theoretic approach to point selection in direct RGB-D odometry.

Visual Odometry