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Found 6 papers, 5 papers with code
Gradient-SDF: A Semi-Implicit Surface Representation for 3D Reconstruction
We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations.
Square Root Marginalization for Sliding-Window Bundle Adjustment
The square root formulation pervades three major aspects of our optimization-based sliding-window estimator: for bundle adjustment we eliminate landmark variables with nullspace projection; to store the marginalization prior we employ a matrix square root of the Hessian; and when marginalizing old poses we avoid forming normal equations and update the square root prior directly with a specialized QR decomposition.
Square Root Bundle Adjustment for Large-Scale Reconstruction
We propose a new formulation for the bundle adjustment problem which relies on nullspace marginalization of landmark variables by QR decomposition.
PrimiTect: Fast Continuous Hough Voting for Primitive Detection
This paper tackles the problem of data abstraction in the context of 3D point sets.
From Planes to Corners: Multi-Purpose Primitive Detection in Unorganized 3D Point Clouds
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes.
Efficient Derivative Computation for Cumulative B-Splines on Lie Groups
Continuous-time trajectory representation has recently gained popularity for tasks where the fusion of high-frame-rate sensors and multiple unsynchronized devices is required.
