Luis Contreras

2 accepted papers

2017

O-POCO: Online point cloud compression mapping for visual odometry and SLAM

ICRA 2017poster

This paper presents O-POCO, a visual odometry and SLAM system that makes online decisions regarding what to map and what to ignore. It takes a point cloud from classical SfM and aims to sample it on-line by selecting map features useful for future 6D relocalisation. We use the camera's traveled traj…

Cited by 23 Source ↗Scholar ↗

2015

Trajectory-driven point cloud compression techniques for visual SLAM

Luis Contreras, Walterio Mayol-Cuevas

IROS 2015poster

We develop and evaluate methods based on a novel data compression strategy for visual SLAM that uses traveled trajectory analysis. Beyond compressing scene structure based purely on geometry, we aim at developing compact map representations that are useful for re-exploration while preserving scene s…

Cited by 21 Source ↗Scholar ↗