Search Results for author: Nikolaus Demmel

Found 15 papers, 7 papers with code

Power Bundle Adjustment for Large-Scale 3D Reconstruction

1 code implementation CVPR 2023 Simon Weber, Nikolaus Demmel, Tin Chon Chan, Daniel Cremers

We demonstrate that employing the proposed Power Bundle Adjustment as a sub-problem solver significantly improves speed and accuracy of the distributed optimization.

3D Reconstruction Distributed Optimization

The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions

no code implementations CVPR 2022 Dominik Muhle, Lukas Koestler, Nikolaus Demmel, Florian Bernard, Daniel Cremers

However, their approach does not take into account uncertainties, so that the accuracy of the estimated relative pose is highly dependent on accurate feature positions in the target frame.

Multidirectional Conjugate Gradients for Scalable Bundle Adjustment

no code implementations8 Oct 2021 Simon Weber, Nikolaus Demmel, Daniel Cremers

We revisit the problem of large-scale bundle adjustment and propose a technique called Multidirectional Conjugate Gradients that accelerates the solution of the normal equation by up to 61%.

Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions

1 code implementation12 Sep 2021 Martin Wudenka, Marcus G. Müller, Nikolaus Demmel, Armin Wedler, Rudolph Triebel, Daniel Cremers, Wolfgang Stürzl

In contrast to most other approaches, our framework can also handle rotation-only motions that are particularly challenging for monocular odometry systems.

Monocular Visual Odometry Optical Flow Estimation

Square Root Marginalization for Sliding-Window Bundle Adjustment

no code implementations ICCV 2021 Nikolaus Demmel, David Schubert, Christiane Sommer, Daniel Cremers, Vladyslav Usenko

The square root formulation pervades three major aspects of our optimization-based sliding-window estimator: for bundle adjustment we eliminate landmark variables with nullspace projection; to store the marginalization prior we employ a matrix square root of the Hessian; and when marginalizing old poses we avoid forming normal equations and update the square root prior directly with a specialized QR decomposition.

TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset

no code implementations16 Aug 2021 Simon Klenk, Jason Chui, Nikolaus Demmel, Daniel Cremers

The event cameras contain a large sensor of 1280x720 pixels, which is significantly larger than the sensors used in existing stereo event datasets (at least by a factor of ten).

Square Root Bundle Adjustment for Large-Scale Reconstruction

1 code implementation CVPR 2021 Nikolaus Demmel, Christiane Sommer, Daniel Cremers, Vladyslav Usenko

We propose a new formulation for the bundle adjustment problem which relies on nullspace marginalization of landmark variables by QR decomposition.

Efficient Derivative Computation for Cumulative B-Splines on Lie Groups

6 code implementations CVPR 2020 Christiane Sommer, Vladyslav Usenko, David Schubert, Nikolaus Demmel, Daniel Cremers

Continuous-time trajectory representation has recently gained popularity for tasks where the fusion of high-frame-rate sensors and multiple unsynchronized devices is required.

Rolling-Shutter Modelling for Direct Visual-Inertial Odometry

no code implementations4 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.

Visual-Inertial Mapping with Non-Linear Factor Recovery

7 code implementations13 Apr 2019 Vladyslav Usenko, Nikolaus Demmel, David Schubert, Jörg Stückler, Daniel Cremers

We reconstruct a set of non-linear factors that make an optimal approximation of the information on the trajectory accumulated by VIO.

Motion Estimation

LDSO: Direct Sparse Odometry with Loop Closure

no code implementations3 Aug 2018 Xiang Gao, Rui Wang, Nikolaus Demmel, Daniel Cremers

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO).

Loop Closure Detection Translation

Direct Sparse Odometry with Rolling Shutter

no code implementations ECCV 2018 David Schubert, Nikolaus Demmel, Vladyslav Usenko, Jörg Stückler, Daniel Cremers

Neglecting the effects of rolling-shutter cameras for visual odometry (VO) severely degrades accuracy and robustness.

Visual Odometry

The Double Sphere Camera Model

8 code implementations24 Jul 2018 Vladyslav Usenko, Nikolaus Demmel, Daniel Cremers

We evaluate the model using a calibration dataset with several different lenses and compare the models using the metrics that are relevant for Visual Odometry, i. e., reprojection error, as well as computation time for projection and unprojection functions and their Jacobians.

3D Reconstruction Autonomous Driving +2

The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

4 code implementations17 Apr 2018 David Schubert, Thore Goll, Nikolaus Demmel, Vladyslav Usenko, Jörg Stückler, Daniel Cremers

For trajectory evaluation, we also provide accurate pose ground truth from a motion capture system at high frequency (120 Hz) at the start and end of the sequences which we accurately aligned with the camera and IMU measurements.

Visual Odometry

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