1 code implementation • SoftwareX 2023 • Gregorio Ambrosio-Cestero, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez
Released in 2017, Robot@Home is a dataset captured by a mobile robot during indoor navigation sessions in apartments.
2 code implementations • 21 Jan 2021 • Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez
This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably corrupted by wrong matches.
no code implementations • 30 Mar 2020 • Mercedes Garcia-Salguero, Jesus Briales, Javier Gonzalez-Jimenez
The optimality of the solution is then checked via our novel fast certifier.
no code implementations • 3 Jul 2019 • David Zuñiga-Noël, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others.
no code implementations • 25 Sep 2018 • Ruben Gomez-Ojeda, Javier Gonzalez-Jimenez
In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments.
no code implementations • CVPR 2018 • Jesus Briales, Laurent Kneip, Javier Gonzalez-Jimenez
Finding the relative pose between two calibrated views ranks among the most fundamental geometric vision problems.
no code implementations • 5 Jul 2017 • Ruben Gomez-Ojeda, Zichao Zhang, Javier Gonzalez-Jimenez, Davide Scaramuzza
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments.
no code implementations • CVPR 2017 • Jesus Briales, Javier Gonzalez-Jimenez
Thus, our approach allows for effectively solving the 3D registration with global optimality guarantees while running at a fraction of the time for the state-of-the-art alternative [34], based on a more computationally intensive Branch and Bound method.
no code implementations • CVPR 2017 • Mariano Jaimez, Thomas J. Cashman, Andrew Fitzgibbon, Javier Gonzalez-Jimenez, Daniel Cremers
We present a novel strategy to shrink and constrain a 3D model, represented as a smooth spline-like surface, within the visual hull of an object observed from one or multiple views.
3 code implementations • 26 May 2017 • Ruben Gomez-Ojeda, David Zuñiga-Noël, Francisco-Angel Moreno, Davide Scaramuzza, Javier Gonzalez-Jimenez
This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not well-distributed in the image.
no code implementations • 27 May 2015 • Ruben Gomez-Ojeda, Manuel Lopez-Antequera, Nicolai Petkov, Javier Gonzalez-Jimenez
In order for the network to learn the desired invariances, we train it with triplets of images selected from datasets which present a challenging variability in visual appearance.