DetectFusion: Detecting and Segmenting Both Known and Unknown Dynamic Objects in Real-time SLAM

no code implementations • 22 Jul 2019 • Ryo Hachiuma, Christian Pirchheim, Dieter Schmalstieg, Hideo Saito

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene.

Instance Segmentation object-detection +4

Global 6DOF Pose Estimation from Untextured 2D City Models

no code implementations • 9 Mar 2015 • Clemens Arth, Christian Pirchheim, Jonathan Ventura, Vincent Lepetit

By contrast, our method returns an accurate, absolute camera pose in an absolute referential using simple 2D+height maps, which are broadly available, to refine a first estimate of the pose provided by the device's sensors.

Pose Estimation Semantic Segmentation +1