This paper addresses sequential appearance-based localization through a topometric framework that iteratively combines probabilistic VPR with FF3D metric pose estimation in controlled image sets, and shows that sequential belief can mitigate severe failures under perceptual aliasing.
Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno et al.· 0 citations
This paper derives novel constraints for joint estimation of absolute pose and focal length, making use of a gravity vector obtained from IMU data and the feature-induced local geometry, which is used to construct two efficient solvers: UP1PfAC, that operates given a single affine correspondence and UP2PfORI, which req...
Marcus Valtonen Örnhag, Alberto Jaenal, S. Adalbjörnsson· Lecture Notes in Computer Sc...· 0 citations
VI3, a model-agnostic framework that metrically anchors a pretrained 3DFM using only IMU readings, is introduced, acting as a fine refinement under well-conditioned motion and as a strong prior when motion is less informative.
E. Lozano, Alberto Jaenal, Javier Civera· 2 citations
Autonomous driving relies on High Definition (HD) maps for safe navigation. Traditional HD maps construction is costly in hardware, data and human resources, which together with its update limitations hinders scalability. Recent works have proposed online alternatives for HD vectorized mapping from onboard sensors. How...
Clara Gómez, Alberto Jaenal, Antonio Artuñedo et al.· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
