John Zelek

2 accepted papers

2024

Inline Photometrically Calibrated Hybrid Visual SLAM

Nicolas Abboud, Malak Sayour, Imad H. Elhajj, John Zelek, Daniel Asmar

IROS 2024poster

This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under different lighting conditions, and thereby improves the direct compo…

Cited by 1 Source ↗code ↗Scholar ↗

2019

A Unified Formulation for Visual Odometry

Georges Younes, Daniel Asmar, John Zelek

IROS 2019poster

Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image pixels directly to generate photometric residuals. Both par…

Cited by 17 Source ↗Scholar ↗