We provide an open-source C++ library for real-time metric-semantic visual-inertial
Simultaneous Localization And Map** (SLAM). The library goes beyond existing visual …

Humans are able to form a complex mental model of the environment they move in. This
mental model captures geometric and semantic aspects of the scene, describes the …

Visual localization enables autonomous vehicles to navigate in their surroundings and
augmented reality applications to link virtual to real worlds. Practical visual localization …

The publication familiarizes the reader with MicMac-a free, open-source photogrammetric
software for 3D reconstruction. A brief history of the tool, its organisation and unique features …

We present a simple, effective method for solving structure from motion problems by
averaging epipolar geometries. Based on recent successes in solving for global camera …

Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a
common 3D coordinate frame. When views are treated incrementally, this external …

Pose graph optimization is the non-convex optimization problem underlying pose-based
Simultaneous Localization and Map** (SLAM). If robot orientations were known, pose …

We consider the problem of localizing a novel image in a large 3D model, given that the
gravitational vector is known. In principle, this is just an instance of camera pose estimation …

Multiview structure recovery from a collection of images requires the recovery of the
positions and orientations of the cameras relative to a global coordinate system. Our …

Robust cross-seasonal localization is one of the major challenges in long-term visual
navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic …