Thomas Whelan — accepted AI-conference papers

2023

Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perception

Xiaqing Pan, Nicholas Charron, Yongqian Yang, Scott Peters, Thomas Whelan, Chen Kong +3

ICCV 2023poster

We introduce the Aria Digital Twin (ADT) - an egocentric dataset captured using Aria glasses with extensive object, environment, and human level ground truth. This ADT release contains 200 sequences of real-world activities conducted by Aria wearers in two real indoor scenes with 398 object instance…

Cited by 52 PDF ↗code ↗Scholar ↗

2015

ElasticFusion: Dense SLAM Without A Pose Graph

Thomas Whelan, Stefan Leutenegger, Renato Salas Moreno, Ben Glocker, Andrew Davison

RSS 2015poster

We present a novel approach to real-time dense visual SLAM. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera in an incremental online fashion, without pose graph optimisation or any post-processing…

Cited by 1054 Source ↗PDF ↗Scholar ↗