Wuwei Ge

2 accepted papers

2021

Globally Optimal and Efficient Manhattan Frame Estimation by Delimiting Rotation Search Space

Wuwei Ge, Yu Song, Baichao Zhang, Zehua Dong

ICCV 2021poster

A typical man-made structure can be abstracted as the Manhattan world assumption, in which notion is further represented as a Manhattan Frame (MF) defined by three orthogonal axes. The problem of MF estimation can be formulated as the solution of the rotation between the MF and the camera frame (cal…

Cited by 4 PDF ↗Scholar ↗

2021

Robust Multi-camera SLAM with Manhattan Constraint toward Automated Valet Parking

Yifei Kang, Yu Song, Wuwei Ge, Tong Ling

IROS 2021poster

We propose a multi-camera simultaneous localization and mapping (SLAM) system using the Manhattan constraint to support automated valet parking. The proposed method uses multiple cameras to expand the system field of view, to improve the robustness of the SLAM system in textureless regions, where po…

Cited by 5 Source ↗Scholar ↗