3 papers indexed
Maria Peribañez, Javier Civera, Rudolph Triebel, Riccardo Giubilato
Visual localization becomes extremely challenging in planetary-like terrains characterized by low texture, perceptual aliasing, harsh illumination, and sparse, weakly overlapping viewpoints induced by forward rover motion and unconstrained driving directions. Under these conditio…
Saad Ejaz, Miguel Fernandez-Cortizas, Javier Civera, Holger Voos, Jose Luis Sanchez-Lopez
CAD-to-image alignment aims to estimate an object's 9D pose (rotation, translation, and anisotropic scale) from a single RGB image, enabling applications in robotics and augmented reality. Recent zero-shot methods use visual foundation models to match image regions to CAD models,…
Fan Zhu, Ziyu Chen, Zhenjun Zhao, Zhisong Xu, Hui Zhu, Mingrui Li, et al.
Real-time monocular Simultaneous Localization and Mapping (SLAM) fundamentally suffers from scale ambiguity and a lack of geometric self-correction. While 3D Gaussian Splatting (3DGS) enables high-fidelity rendering, existing RGB-only systems remain open-loop because depth priors…