Publications

Visual Correspondence Hallucination
H. Germain, V. Lepetit and G.Bourmaud, ICLR, 2022
[paper+supp.mat] [code]

Neural Reprojection Error: Merging Feature Learning and Camera Pose Estimation
H. Germain, V. Lepetit and G.Bourmaud, CVPR, 2021
[paper+supp.mat] [code]

S2DNet: Learning Image Features for Accurate Sparse-to-Dense Matching
H. Germain, G.Bourmaud and V. Lepetit, ECCV, 2020
[paper] [supp. mat.] [spotlight] [code]

Pareto Meets Huber: Efficiently Avoiding Poor Minima in Robust Estimation
C. Zach and G.Bourmaud, ICCV, 2019
[paper] [supp. mat.] [poster]

Sparse-to-Dense Hypercolumn Matching for Long-Term Visual Localization
H. Germain, G.Bourmaud and V. Lepetit, 3DV, 2019
[paper] [supp. mat.] [poster] [code]

Descending, lifting or smoothing: Secrets of robust cost optimization
C. Zach and G.Bourmaud, ECCV, 2018
[paper] [supp. mat.] [poster]

Multiplicative vs. Additive Half-Quadratic Minimization for Robust Cost Optimization
C. Zach and G.Bourmaud, BMVC, 2018
[paper] [poster]

Iterated Lifting for Robust Cost Optimization
C. Zach and G.Bourmaud, BMVC, 2017
[paper] [supp. mat.] [poster]

Online Variational Bayesian Motion Averaging
G.Bourmaud, ECCV, 2016
[paper] [supp. mat.] [spotlight] [poster] [video]

From Intrinsic Optimization to Iterated Extended Kalman Filtering on Lie Groups
G.Bourmaud, R.Megret, A.Giremus, Y.Berthoumieu, JMIV, 2016
[paper] [Matlab code]

Continuous-Discrete Extended Kalman Filter on Matrix Lie Groups Using Concentrated Gaussian Distributions
G.Bourmaud, M.Arnaudon, R.Megret, A.Giremus, JMIV, 2015
[paper] [Matlab code]

Robust Wearable Camera Localization as a Target Tracking Problem on SE(3)
G.Bourmaud and A.Giremus, BMVC, 2015
[paper] [supp. mat.] [video]

Robust Large Scale Monocular Visual SLAM
G.Bourmaud and Y.Berthoumieu, CVPR, 2015
[paper] [supp. mat.] [Matlab code] [video]

Global Motion Estimation from Relative Measurements in the Presence of Outliers
G.Bourmaud, R.Megret, A.Giremus and Y.Berthoumieu, ACCV, 2014
[paper] [supp. mat.] [Matlab code]

Global Motion Estimation from Relative Measurements using Iterated Extended Kalman Filter on Matrix Lie Groups
G.Bourmaud, R.Megret, A.Giremus and Y.Berthoumieu, ICIP, 2014
[paper]

Discrete Extended Kalman Filter on Lie Groups
G.Bourmaud, R.Megret, A.Giremus and Y.Berthoumieu, EUSIPCO, 2013
[paper]

Dissertation

Parameter estimation on Lie groups: Application to mapping and localization from a monocular camera
G.Bourmaud, Ph.D. dissertation (in french), University of Bordeaux, Nov. 2015
[pdf]