Search Results for author: Ziwei Liao

Found 7 papers, 5 papers with code

Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors

1 code implementation17 Sep 2023 Ziwei Liao, Jun Yang, Jingxing Qian, Angela P. Schoellig, Steven L. Waslander

Unlike current state-of-the-art approaches, we explicitly model the uncertainty of the object shapes and poses during our optimization, resulting in a high-quality object-level mapping system.

3D Reconstruction Object

Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior

no code implementations17 Jun 2023 Ziwei Liao, Steven L. Waslander

We propose a method to model uncertainty as part of the representation and define an uncertainty-aware encoder which generates latent codes with uncertainty directly from individual input images.

3D Object Reconstruction Object +1

SO-SLAM: Semantic Object SLAM with Scale Proportional and Symmetrical Texture Constraints

1 code implementation10 Sep 2021 Ziwei Liao, Yutong Hu, Jiadong Zhang, Xianyu Qi, XiaoYu Zhang, Wei Wang

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications.

Object Object SLAM

Stereo Plane SLAM Based on Intersecting Lines

1 code implementation19 Aug 2020 Xiao-Yu Zhang, Wei Wang, Xianyu Qi, Ziwei Liao

Adding such plane features in stereo SLAM system reduces the drift error and refines the performance.

Stereo Matching

Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments

1 code implementation11 Apr 2020 Ziwei Liao, Wei Wang, Xianyu Qi, Xiao-Yu Zhang, Lin Xue, Jianzhen Jiao, Ran Wei

As objects are often observed locally, the proposed algorithm uses the symmetrical properties of indoor artificial objects to estimate the occluded parts to obtain more accurate quadric parameters.

object-detection Object Detection

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