Yijia He
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View article: Geometric Wide-Angle Camera Calibration: A Review and Comparative Study
Geometric Wide-Angle Camera Calibration: A Review and Comparative Study Open
Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship between incoming rays and image pixels, geometric camera cal…
View article: SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Reality
SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Reality Open
Visual localization plays an important role in the applications of Augmented Reality (AR), which enable AR devices to obtain their 6-DoF pose in the pre-build map in order to render virtual content in real scenes. However, most existing ap…
View article: Geometric Wide-Angle Camera Calibration: A Review and Comparative Study
Geometric Wide-Angle Camera Calibration: A Review and Comparative Study Open
Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship between incoming rays and image pixels, geometric camera cal…
View article: ELSD: Efficient Line Segment Detector and Descriptor
ELSD: Efficient Line Segment Detector and Descriptor Open
We present the novel Efficient Line Segment Detector and Descriptor (ELSD) to simultaneously detect line segments and extract their descriptors in an image. Unlike the traditional pipelines that conduct detection and description separately…
View article: Improved Signed Distance Function for 2D Real-time SLAM and Accurate Localization
Improved Signed Distance Function for 2D Real-time SLAM and Accurate Localization Open
Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping …
View article: PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features
PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features Open
Leveraging line features to improve localization accuracy of point-based visual-inertial SLAM (VINS) is gaining interest as they provide additional constraints on scene structure. However, real-time performance when incorporating line feat…
View article: TP-LSD: Tri-Points Based Line Segment Detector
TP-LSD: Tri-Points Based Line Segment Detector Open
This paper proposes a novel deep convolutional model, Tri-Points Based Line Segment Detector (TP-LSD), to detect line segments in an image at real-time speed. The previous related methods typically use the two-step strategy, relying on eit…
View article: M^3VSNet: Unsupervised Multi-metric Multi-view Stereo Network
M^3VSNet: Unsupervised Multi-metric Multi-view Stereo Network Open
The present Multi-view stereo (MVS) methods with supervised learning-based networks have an impressive performance comparing with traditional MVS methods. However, the ground-truth depth maps for training are hard to be obtained and are wi…
View article: Leveraging Planar Regularities for Point Line Visual-Inertial Odometry
Leveraging Planar Regularities for Point Line Visual-Inertial Odometry Open
With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…
View article: Coarse-To-Fine Visual Localization Using Semantic Compact Map
Coarse-To-Fine Visual Localization Using Semantic Compact Map Open
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and com…
View article: Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment
Line-Based Stereo SLAM by Junction Matching and Vanishing Point Alignment Open
In this paper, we propose a stereo simultaneous localization and mapping (SLAM) method based on line segments. For the front-end module of SLAM, we designed a novel method based on the coplanar junction detection, description, and matching…
View article: PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features
PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features Open
To address the problem of estimating camera trajectory and to build a structural three-dimensional (3D) map based on inertial measurements and visual observations, this paper proposes point–line visual–inertial odometry (PL-VIO), a tightly…