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NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping
(2021)2021 International Conference on 3D Vision (3DV)We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions and can not incrementally perform updates given new data. In this work, we propose a fusion strategy and training pipeline to incrementally build and update neural implicit representations that enable ...Conference Paper -
CalQNet - Detection of calibration quality for life-long stereo camera setups
(2021)2021 IEEE Intelligent Vehicles Symposium (IV)Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accurate stereo camera calibration methods have been developed, which provide good initial 'factory' calibrations, the determined parameters can lose their validity over time as the sensors are exposed to environmental conditions and external effects. Thus, on ...Conference Paper -
Learning Camera Miscalibration Detection
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental transients, or external disturbances. Precise calibration lies at the core of a variety of applications, due to the need to accurately perceive the world. However, while a lot of work has focused on ...Conference Paper