Project Aria: A New Tool for Egocentric Multi-Modal AI Research

no code implementations • 24 Aug 2023 • Jakob Engel, Kiran Somasundaram, Michael Goesele, Albert Sun, Alexander Gamino, Andrew Turner, Arjang Talattof, Arnie Yuan, Bilal Souti, Brighid Meredith, Cheng Peng, Chris Sweeney, Cole Wilson, Dan Barnes, Daniel DeTone, David Caruso, Derek Valleroy, Dinesh Ginjupalli, Duncan Frost, Edward Miller, Elias Mueggler, Evgeniy Oleinik, Fan Zhang, Guruprasad Somasundaram, Gustavo Solaira, Harry Lanaras, Henry Howard-Jenkins, Huixuan Tang, Hyo Jin Kim, Jaime Rivera, Ji Luo, Jing Dong, Julian Straub, Kevin Bailey, Kevin Eckenhoff, Lingni Ma, Luis Pesqueira, Mark Schwesinger, Maurizio Monge, Nan Yang, Nick Charron, Nikhil Raina, Omkar Parkhi, Peter Borschowa, Pierre Moulon, Prince Gupta, Raul Mur-Artal, Robbie Pennington, Sachin Kulkarni, Sagar Miglani, Santosh Gondi, Saransh Solanki, Sean Diener, Shangyi Cheng, Simon Green, Steve Saarinen, Suvam Patra, Tassos Mourikis, Thomas Whelan, Tripti Singh, Vasileios Balntas, Vijay Baiyya, Wilson Dreewes, Xiaqing Pan, Yang Lou, Yipu Zhao, Yusuf Mansour, Yuyang Zou, Zhaoyang Lv, Zijian Wang, Mingfei Yan, Carl Ren, Renzo De Nardi, Richard Newcombe

Egocentric, multi-modal data as available on future augmented reality (AR) devices provides unique challenges and opportunities for machine perception.

The Replica Dataset: A Digital Replica of Indoor Spaces

2 code implementations • 13 Jun 2019 • Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, Richard Newcombe

We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale.

3D Scene Reconstruction Instruction Following +2

ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

6 code implementations • 20 Oct 2016 • Raul Mur-Artal, Juan D. Tardos

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.

Simultaneous Localization and Mapping Visual Odometry

Visual-Inertial Monocular SLAM with Map Reuse

13 code implementations • 19 Oct 2016 • Raul Mur-Artal, Juan D. Tardos

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness.

Simultaneous Localization and Mapping

ORB-SLAM: a Versatile and Accurate Monocular SLAM System

2 code implementations • 3 Feb 2015 • Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments.

Simultaneous Localization and Mapping