Kazii Botashev

2 accepted papers

2024

GSLoc: Visual Localization with 3D Gaussian Splatting

Kazii Botashev, Vladislav Pyatov, Gonzalo Ferrer, Stamatios Lefkimmiatis

IROS 2024poster

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered and target images, while it adopts a coarse-to-fine strategy…

Cited by 5 Source ↗Scholar ↗

2023

Analytical Jacobian Approximation for Direct Optimization of a Trajectory of Interpolated Poses on SE(3)

Kazii Botashev, Gonzalo Ferrer

IROS 2023poster

This paper relates to time-continuous trajectory representation using direct linear interpolation on SE(3). Our approach focuses on a novel analytical Jacobian approximation of a sequence of linearly interpolated poses on SE(3). This paper shows a derivation of the proposed analytical Jacobian using…

Cited by 1 Source ↗Scholar ↗