notesum.ai

Published at December 4

BIMCaP: BIM-based AI-supported LiDAR-Camera Pose Refinement

cs.RO

cs.AI

Released Date: December 4, 2024

Authors: Miguel Arturo Vega Torres, Anna Ribic, Borja García de Soto, André Borrmann

Arxiv: http://arxiv.org/pdf/2412.03434v1

Refer to caption

Source/Method	G	F	W	Co	Ce	MME $\downarrow$	MPV $\downarrow$	NND $\downarrow$	ATE ${}_{\text{pos}}$ $\downarrow$	ATE ${}_{\text{rot}}$ $\downarrow$
GT poses	-	-	-	-	-	0.761	0.040	0	0	0
Exp. 1	-	-	-	-	-	1.027	0.059	0.557	1.391	9.99
FACaP	✓	✓	✓	-	-	0.979	0.054	0.503	1.321	15.40
	✓	-	-	-	-	1.013	0.058	0.566	1.385	8.84
	-	✓	-	-	-	0.966	0.053	0.503	1.358	16.50
	-	-	✓	-	-	1.031	0.059	0.545	1.378	9.82
BIMCaP	✓	✓	✓	✓	✓	0.956	0.052	0.460	1.281	11.84
	✓	✓	✓	-	✓	0.959	0.052	0.456	1.281	11.81
	✓	✓	✓	-	-	0.975	0.053	0.505	1.311	12.58
	-	✓	-	-	-	0.966	0.054	0.519	1.351	13.63
	-	-	✓	✓	-	1.034	0.059	0.549	1.378	9.75
	-	-	-	-	✓	0.982	0.054	0.480	1.387	12.71