In the fields of Structure-from-Motion (SfM) and visual SLAM (Simultaneous Localization and Mapping), Bundle Adjustment (BA) is a crucial process that optimizes camera poses and the positions of 3D landmarks. In practice, many visual SLAM systems perform BA locally on the most recent keyframes and their associated landmarks to maintain overall system accuracy and tracking […]
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A Graph Network Approach to Fast Bundle Adjustment for Optimized SLAM
Symmetry-Aware Architecture for Embodied Visual Navigation
Embodied visual navigation, which is crucial in fields such as autonomous robotics and augmented reality, enables a robot to navigate and search for target objects in an unknown environment while localizing itself. However, existing deep reinforcement learning (RL) approaches often suffer from performance degradation in out-of-distribution environments due to statistical shifts between training and testing […]
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