Name
Abstract | ||
|---|---|---|
We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view geometry and rigid-body dynamics. This results in an expressive predictive model of the world, often missing in current state-of-the-art visual SLAM solutions. The combination of variational inference, neural networks and a differentiable raycaster ensures that our model is amenable to end-to-end gradient-based optimisation. We evaluate our approach on realistic unmanned aerial vehicle flight data, nearing the performance of state-of-the-art visual-inertial odometry systems. We demonstrate the applicability of the model to generative prediction and planning. |
Year | Venue | DocType |
|---|---|---|
2021 | ICLR | Conference |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Atanas Mirchev | 1 | 0 | 0.68 |
| Baris Kayalibay | 2 | 0 | 0.68 |
| Patrick van der Smagt | 3 | 188 | 24.23 |
| Justin Bayer | 4 | 157 | 32.38 |