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Arnaud de La Fortelle

4 accepted papers

2023

CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation

Arthur Moreau, Nathan Piasco, Moussab Bennehar, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle
ICCV 2023poster

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for this representation. The proposed method enables to compute in…

Cited by 31PDF ↗Scholar ↗
2022

Tightly-Coupled Magneto-Visual-Inertial Fusion for Long Term Localization in Indoor Environment

Jade Coulin, Richard Guillemard, Vincent Gay-Bellile, Cyril Joly, Arnaud de La Fortelle
RA-L 2022

We propose in this letter a tightly-coupled fusion of visual, inertial and magnetic data for long-term localization in indoor environment. Unlike state-of-the-art Visual-Inertial SLAM (VISLAM) solutions that reuse visual map to prevent drift, we present in this letter an extension of the Multi-State

Cited by 18Source ↗Scholar ↗
2021

LENS: Localization enhanced by NeRF synthesis

Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle
CoRL 2021poster

Neural Radiance Fields (NeRF) have recently demonstrated photorealistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement of camera pose regression thanks to an additional synthetic da…

Cited by 153Source ↗Scholar ↗