SLAM

DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping process …

Direct Multichannel Tracking

We present direct multichannel tracking, an algorithm for tracking the pose of a monocular camera (visual odometry) using high-dimensional features in a direct image alignment framework. Instead of using a single grayscale channel and assuming …

Fast plane extraction in organized point clouds using agglomerative hierarchical clustering

The fastest plane detection algorithm on single-core CPU (35Hz for VGA size) for organized point clouds.

Point-plane SLAM for hand-held 3D sensors