4 accepted papers
We propose a novel visual-inertial odometry (VIO) initialization method, which decouples rotation and translation estimation, and achieves higher efficiency and better robustness. Existing loosely-coupled VIO-initialization methods suffer from poor stability of visual structure-from-motion (SfM), wh…
We introduce a new solution to point set registration, a fundamental geometric problem occurring in many computer vision and robotics applications. We consider the specific case in which the point sets are segmented into semantically annotated parts. Such information may for example come from object…
We present a tightly-coupled multi-sensor fusion architecture for autonomous vehicle applications, which achieves centimetre-level accuracy and high robustness in various scenarios. In order to realize robust and accurate point-cloud feature matching we propose a novel method for extracting structur…
The increasing availability of surround-view camera systems in passenger vehicles motivates their use as an exterior perception modality for intelligent vehicle behaviour. An important problem within this context is the extrinsic calibration between the cameras, which is challenging due to the often…