• Large-Scale Dense 3D Reconstruction from Stereo Imagery 

      Alcantarilla, Pablo F.; Beall, Chris; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      In this paper we propose a novel method for large-scale dense 3D reconstruction from stereo imagery. Assuming that stereo camera calibration and camera motion are known, our method is able to reconstruct accurately dense ...
    • Learning Visibility of Landmarks for Vision-Based Localization 

      Alcantarilla, Pablo F.; Oh, Sang Min; Mariottini, Gian Luca; Bergasa, Luis M.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We aim to perform robust and fast vision-based localization using a pre-existing large map of the scene. A key step in localization is associating the features extracted from the image with the map elements at the current ...
    • Visibility Learning in Large-Scale Urban Environment 

      Alcantarilla, Pablo F.; Ni, Kai; Bergasa, Luis M.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011)
    • Visual Odometry Priors for robust EKF-SLAM 

      Alcantarilla, Pablo F.; Bergasa, Luis Miguel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      One of the main drawbacks of standard visual EKF-SLAM techniques is the assumption of a general camera motion model. Usually this motion model has been implemented in the literature as a constant linear and angular ...