8 accepted papers
While 3D Gaussian splatting has emerged as a powerful paradigm, it fundamentally fails to model transparency such as glass panels. The core challenge lies in decoupling the intertwined radiance contributions from transparent interfaces and the transmitted geometry observed through the glass. We pres
We introduce the first learning-based dense matching algorithm, termed Equirectangular Projection-Oriented Dense Kernelized Feature Matching (EDM), specifically designed for omnidirectional images. Equirectangular projection (ERP) images, with their large fields of view, are particularly suited for…
This paper tackles a localization problem in large-scale indoor environments with wayfinding maps. A wayfinding map abstractly portrays the environment, and humans can localize themselves based on the map. However, when it comes to using it for robot localization, large geometrical discrepancies bet…
Global registration using 3D point clouds is a crucial technology for mobile platforms to achieve localization or manage loop-closing situations. In recent years, numerous researchers have proposed global registration methods to address a large number of outlier correspondences. Unfortunately, the d…
Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies, such as GNSS, fail. Indoor spaces impose interesting challen…
With its essential role in achieving full autonomy of robot navigation, place recognition has been widely studied with various approaches. Recently, numerous point cloud-based methods with deep learning implementation have been proposed with promising results for their application in outdoor environ…
In indoor environments, there exists a few distinctive indoor spaces' features (ISFs). However, up to our knowledge, there is no algorithm that fully utilizes ISF for accurate 3-D SLAM. In this letter, we suggest a sensor system that efficiently captures ISF and propose an algorithm framework that a
In indoor spaces, plane features are general geometric primitives that are robust to noise. To estimate the relative displacement and orientation between two consecutive 3D poses, at least three-pair correspondences of planes with different normals are needed at both poses. Otherwise, the estimated…