Learned Monocular Depth Priors in Visual-Inertial Initialization

no code implementations • 20 Apr 2022 • Yunwen Zhou, Abhishek Kar, Eric Turner, Adarsh Kowdle, Chao X. Guo, Ryan C. DuToit, Konstantine Tsotsos

Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry.

Pose Estimation

DepthLab: Real-Time 3D Interaction With Depth Maps for Mobile Augmented Reality

1 code implementation • 22 Oct 2020 • Ruofei Du, Eric Turner, Maksym Dzitsiuk, Luca Prasso, Ivo Duarte, Jason Dourgarian, Joao Afonso, Jose Pascoal, Josh Gladstone, Nuno Cruces, Shahram Izadi, Adarsh Kowdle, Konstantine Tsotsos, and David Kim

Slow adoption of depth information in the UX layer may be due to the complexity of processing depth data to simply render a mesh or detect interaction based on changes in the depth map.

Depth And Camera Motion Indoor Monocular Depth Estimation +1

A Simple Hierarchical Pooling Data Structure for Loop Closure

no code implementations • 20 Nov 2015 • Xiaohan Fei, Konstantine Tsotsos, Stefano Soatto

We propose a data structure obtained by hierarchically averaging bag-of-word descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications ranging from 4 to 20 times on benchmark datasets.