Search Results for author: Richard Elvira

Found 4 papers, 2 papers with code

CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopy

no code implementations27 May 2024 Richard Elvira, Juan D. Tardós, José M. M. Montiel

To overcome the limitations of ORB-SLAM3, we use SIFT instead of ORB features and replace the DBoW2 direct index with the more computationally demanding brute-force matching, being able to successfully match images separated in time for relocation and map merging.

Simultaneous Localization and Mapping

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

30 code implementations23 Jul 2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel, Juan D. Tardós

Compared with visual odometry systems that only use information from the last few seconds, ORB-SLAM3 is the first system able to reuse in all the algorithm stages all previous information.

Robotics

ORBSLAM-Atlas: a robust and accurate multi-map system

no code implementations30 Aug 2019 Richard Elvira, Juan D. Tardós, J. M. M. Montiel

We also show the robustness and capability of our system to deal with dynamic scenes, quantitatively in the EuRoC datasets and qualitatively in a densely populated corridor where camera occlusions and tracking losses are frequent.

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