1 code implementation • 11 Jan 2022 • Lukas von Stumberg, Daniel Cremers
This is the foundation of the proposed pose graph bundle adjustment, which we use for IMU initialization.
1 code implementation • CVPR 2021 • Felix Wimbauer, Nan Yang, Lukas von Stumberg, Niclas Zeller, Daniel Cremers
Unlike other multi-view stereo methods, MonoRec is able to reconstruct both static and moving objects by leveraging the predicted masks.
no code implementations • 13 Oct 2020 • Lukas von Stumberg, Patrick Wenzel, Nan Yang, Daniel Cremers
The learned features significantly improve the robustness of direct image alignment, especially for relocalization across different conditions.
no code implementations • 14 Sep 2020 • Patrick Wenzel, Rui Wang, Nan Yang, Qing Cheng, Qadeer Khan, Lukas von Stumberg, Niclas Zeller, Daniel Cremers
We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving.
no code implementations • CVPR 2020 • Nan Yang, Lukas von Stumberg, Rui Wang, Daniel Cremers
We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation.
no code implementations • 4 Nov 2019 • David Schubert, Nikolaus Demmel, Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers
The visual part of the system performs a photometric bundle adjustment on a sparse set of points.
1 code implementation • 26 Apr 2019 • Lukas von Stumberg, Patrick Wenzel, Qadeer Khan, Daniel Cremers
Direct SLAM methods have shown exceptional performance on odometry tasks.
no code implementations • 8 Aug 2018 • Hidenobu Matsuki, Lukas von Stumberg, Vladyslav Usenko, Jörg Stückler, Daniel Cremers
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras.
1 code implementation • 16 Apr 2018 • Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers
We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement errors in a combined energy functional.
2 code implementations • 4 Mar 2017 • Vladyslav Usenko, Lukas von Stumberg, Andrej Pangercic, Daniel Cremers
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs).
Robotics
no code implementations • 26 Sep 2016 • Lukas von Stumberg, Vladyslav Usenko, Jakob Engel, Jörg Stückler, Daniel Cremers
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity.