no code implementations • 24 May 2024 • T. Berriel Martins, Javier Civera
Finally, we also show the capacity and convenience of our feature vector representation, demonstrating its capability not only to generate RGB values for novel views, but also their per-pixel semantic labels.
no code implementations • 26 Apr 2024 • Samuel Cerezo, Javier Civera
In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow.
1 code implementation • 20 Mar 2024 • Alberto García-Hernández, Riccardo Giubilato, Klaus H. Strobl, Javier Civera, Rudolph Triebel
Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems.
1 code implementation • 26 Feb 2024 • Seong Hun Lee, Javier Civera, Patrick Vandewalle
We propose a robust method for point cloud registration that can handle both unknown scales and extreme outlier ratios.
1 code implementation • 10 Dec 2023 • Javier Tirado-Garín, Javier Civera
Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision.
1 code implementation • 27 Nov 2023 • Sergio Izquierdo, Javier Civera
The task of Visual Place Recognition (VPR) aims to match a query image against references from an extensive database of images from different places, relying solely on visual cues.
Ranked #1 on Visual Place Recognition on SPED
1 code implementation • 13 Sep 2023 • Alejandro Fontan, Javier Civera, Michael Milford
In this paper we show that SLAM commutativity, that is, consistency in trajectory estimates on forward and reverse traverses of the same route, is a significant issue for the state of the art.
1 code implementation • 11 Sep 2023 • Seong Hun Lee, Javier Civera
In this work, we propose a novel method for robust single rotation averaging that can efficiently handle an extremely large fraction of outliers.
no code implementations • 22 Aug 2023 • Hriday Bavle, Jose Luis Sanchez-Lopez, Javier Civera, Holger Voos
A global optimization of the compressed graph is performed every time a loop closure is detected.
no code implementations • ICCV 2023 • Javier Rodríguez-Puigvert, Víctor M. Batlle, J. M. M. Montiel, Ruben Martinez-Cantin, Pascal Fua, Juan D. Tardós, Javier Civera
However, there are scenarios, especially in medicine in the case of endoscopies, where such data cannot be obtained.
1 code implementation • 29 Jun 2023 • David Recasens, Martin R. Oswald, Marc Pollefeys, Javier Civera
Estimating camera motion in deformable scenes poses a complex and open research challenge.
1 code implementation • 20 May 2023 • Javier Tirado-Garín, Frederik Warburg, Javier Civera
Current deep visual local feature detectors do not model the spatial uncertainty of detected features, producing suboptimal results in downstream applications.
1 code implementation • 16 May 2023 • T. Berriel Martins, Javier Civera
In this paper we propose the Ray-Patch querying, a novel model to efficiently query transformers to decode implicit representations into target views.
no code implementations • 3 Mar 2023 • Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle, Jose Luis Sanchez-Lopez, Javier Civera, Holger Voos
Firstly, we develop a method for converting the plan of a building into what we denote as an architectural graph (A-Graph).
1 code implementation • 22 Dec 2022 • Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos
In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) a 3D scene graph, as a high-level representation of the environment that encodes its different geometric elements with semantic attributes and the relational information between them.
1 code implementation • 10 Dec 2022 • Seong Hun Lee, Javier Civera
This metric is an attractive alternative to the ATE, in that it is capable of discerning the varying trajectory accuracy as the inlier trajectory error or the number of outliers varies.
1 code implementation • CVPR 2023 • Sergio Izquierdo, Javier Civera
Estimating a dense depth map from a single view is geometrically ill-posed, and state-of-the-art methods rely on learning depth's relation with visual appearance using deep neural networks.
no code implementations • 16 Nov 2022 • Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos
Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution.
4 code implementations • 29 Apr 2022 • Pablo Azagra, Carlos Sostres, Ángel Ferrandez, Luis Riazuelo, Clara Tomasini, Oscar León Barbed, Javier Morlana, David Recasens, Victor M. Batlle, Juan J. Gómez-Rodríguez, Richard Elvira, Julia López, Cristina Oriol, Javier Civera, Juan D. Tardós, Ana Cristina Murillo, Angel Lanas, José M. M. Montiel
Computer-assisted systems are becoming broadly used in medicine.
Medical Image Retrieval Simultaneous Localization and Mapping
no code implementations • 24 Feb 2022 • Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in real environments.
no code implementations • 3 Feb 2022 • Andrea Vallone, Frederik Warburg, Hans Hansen, Søren Hauberg, Javier Civera
Place recognition and visual localization are particularly challenging in wide baseline configurations.
no code implementations • 1 Feb 2022 • Alejandro Fontan, Laura Oliva, Javier Civera, Rudolph Triebel
In this work, we derive a model for the covariance of the visual residuals in multi-view SfM, odometry and SLAM setups.
no code implementations • 25 Jan 2022 • Javier Tirado, Javier Civera
In this paper we propose a method that estimates the $SE(3)$ continuous trajectories (orientation and translation) of the dynamic rigid objects present in a scene, from multiple RGB-D views.
no code implementations • 16 Dec 2021 • Javier Rodríguez-Puigvert, David Recasens, Javier Civera, Rubén Martínez-Cantín
Estimating depth information from endoscopic images is a prerequisite for a wide set of AI-assisted technologies, such as accurate localization and measurement of tumors, or identification of non-inspected areas.
1 code implementation • CVPR 2022 • Seong Hun Lee, Javier Civera
We propose a novel hierarchical approach for multiple rotation averaging, dubbed HARA.
no code implementations • 29 Apr 2021 • Javier Rodríguez-Puigvert, Rubén Martínez-Cantín, Javier Civera
In this paper, we evaluate scalable approaches to uncertainty quantification in single-view supervised depth learning, specifically MC dropout and deep ensembles.
1 code implementation • 30 Mar 2021 • David Recasens, José Lamarca, José M. Fácil, J. M. M. Montiel, Javier Civera
Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e. g. the deformation of in-body cavities or the lack of texture.
no code implementations • ICCV 2021 • Frederik Warburg, Martin Jørgensen, Javier Civera, Søren Hauberg
Uncertainty quantification in image retrieval is crucial for downstream decisions, yet it remains a challenging and largely unexplored problem.
no code implementations • CVPR 2021 • Seong Hun Lee, Javier Civera
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure.
no code implementations • 30 Sep 2020 • Irene Ballester, Alejandro Fontan, Javier Civera, Klaus H. Strobl, Rudolph Triebel
In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments.
1 code implementation • 4 Aug 2020 • Seong Hun Lee, Javier Civera
We propose a robust and efficient method for multiview triangulation and uncertainty estimation.
no code implementations • 4 Aug 2020 • Seong Hun Lee, Javier Civera
In this work, we provide geometric interpretations of the normalized epipolar error.
1 code implementation • 1 Apr 2020 • Seong Hun Lee, Javier Civera
We propose a novel method for single rotation averaging using the Weiszfeld algorithm.
no code implementations • 19 Jan 2020 • Javier Civera, Seong Hun Lee
The two topics are closely related, as the former aims to track the incremental camera motion with respect to a local map of the scene, and the latter to jointly estimate the camera trajectory and the global map with consistency.
no code implementations • 27 Jul 2019 • Seong Hun Lee, Javier Civera
We propose a novel alternative to the classic midpoint method that leads to significantly lower 2D errors and parallax errors.
1 code implementation • CVPR 2019 • Jose M. Facil, Benjamin Ummenhofer, Huizhong Zhou, Luis Montesano, Thomas Brox, Javier Civera
Single-view depth estimation suffers from the problem that a network trained on images from one camera does not generalize to images taken with a different camera model.
no code implementations • ICCV 2019 • Seong Hun Lee, Javier Civera
In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose.
3 code implementations • 19 Mar 2019 • Clara Fernandez-Labrador, Jose M. Facil, Alejandro Perez-Yus, Cédric Demonceaux, Javier Civera, Jose J. Guerrero
The problem of 3D layout recovery in indoor scenes has been a core research topic for over a decade.
no code implementations • 25 Feb 2019 • Jose M. Facil, Daniel Olid, Luis Montesano, Javier Civera
Visual place recognition is particularly challenging when places suffer changes in its appearance.
1 code implementation • 20 Aug 2018 • Daniel Olid, José M. Fácil, Javier Civera
First we pre-process and propose a partition for the Nordland dataset, frequently used for place recognition research without consensus on the partitions.
1 code implementation • 26 Jul 2018 • Seong Hun Lee, Javier Civera
We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods.
6 code implementations • 14 Jun 2018 • Berta Bescos, José M. Fácil, Javier Civera, José Neira
And it also estimates a map of the static parts of the scene, which is a must for long-term applications in real-world environments.
1 code implementation • 2 Mar 2017 • Alejo Concha, Javier Civera
Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics.
Robotics
no code implementations • 22 Nov 2016 • José M. Fácil, Alejo Concha, Luis Montesano, Javier Civera
The single and multi-view fusion we propose is challenging in several aspects.