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Bogdan Stanciulescu

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

GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation

Thomas Gilles, Stefano Sabatini, Dzmitry Tsishkou, Bogdan Stanciulescu, Fabien Moutarde
ICRA 2022poster

In this paper, we propose GOHOME, a method leveraging graph representations of the High Definition Map and sparse projections to generate a heatmap output representing the future position probability distribution for a given agent in a traffic scene. This heatmap output yields an unconstrained 2D gr…

Cited by 306Source ↗Scholar ↗
2022

THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling

Thomas Gilles, Stefano Sabatini, Dzmitry Tsishkou, Bogdan Stanciulescu, Fabien Moutarde
ICLR 2022poster

In this paper, we propose THOMAS, a joint multi-agent trajectory prediction framework allowing for an efficient and consistent prediction of multi-agent multi-modal trajectories. We present a unified model architecture for simultaneous agent future heatmap estimation, in which we leverage hierarchic…

Cited by 184Source ↗PDF ↗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 ↗