Search Results for author: Marcin Dymczyk

Found 10 papers, 5 papers with code

Fast Image-Anomaly Mitigation for Autonomous Mobile Robots

no code implementations4 Sep 2021 Gianmario Fumagalli, Yannick Huber, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

Camera anomalies like rain or dust can severelydegrade image quality and its related tasks, such as localizationand segmentation.

SegMap: Segment-based mapping and localization using data-driven descriptors

2 code implementations27 Sep 2019 Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena

We therefore present SegMap: a map representation solution for localization and mapping based on the extraction of segments in 3D point clouds.

Autonomous Driving

VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments

no code implementations12 Feb 2019 Mathias Bürki, Lukas Schaupp, Marcin Dymczyk, Renaud Dubé, Cesar Cadena, Roland Siegwart, Juan Nieto

Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments.

Robotics

From Coarse to Fine: Robust Hierarchical Localization at Large Scale

3 code implementations CVPR 2019 Paul-Edouard Sarlin, Cesar Cadena, Roland Siegwart, Marcin Dymczyk

In this paper we propose HF-Net, a hierarchical localization approach based on a monolithic CNN that simultaneously predicts local features and global descriptors for accurate 6-DoF localization.

Autonomous Driving Visual Localization +1

LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization

no code implementations12 Jul 2018 Marcin Dymczyk, Igor Gilitschenski, Juan Nieto, Simon Lynen, Bernhard Zeisl, Roland Siegwart

We propose LandmarkBoost - an approach that, in contrast to the conventional 2D-3D matching methods, casts the search problem as a landmark classification task.

Pose Retrieval

Dynamic Objects Segmentation for Visual Localization in Urban Environments

no code implementations9 Jul 2018 Guoxiang Zhou, Berta Bescos, Marcin Dymczyk, Mark Pfeiffer, José Neira, Roland Siegwart

Yet, in highly dynamic environments, like crowded city streets, problems arise as major parts of the image can be covered by dynamic objects.

Pose Estimation Visual Localization +1

Long-term Large-scale Mapping and Localization Using maplab

1 code implementation28 May 2018 Marcin Dymczyk, Marius Fehr, Thomas Schneider, Roland Siegwart

This paper discusses a large-scale and long-term mapping and localization scenario using the maplab open-source framework.

maplab: An Open Framework for Research in Visual-inertial Mapping and Localization

1 code implementation28 Nov 2017 Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski, Roland Siegwart

On the other hand, maplab provides the research community with a collection of multisession mapping tools that include map merging, visual-inertial batch optimization, and loop closure.

Robotics

Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps

no code implementations16 Sep 2017 Fabian Blöchliger, Marius Fehr, Marcin Dymczyk, Thomas Schneider, Roland Siegwart

Then, we create a set of convex free-space clusters, which are the vertices of the topological map.

Robotics

Cannot find the paper you are looking for? You can Submit a new open access paper.