no code implementations • 29 Sep 2022 • Mariia Gladkova, Nikita Korobov, Nikolaus Demmel, Aljoša Ošep, Laura Leal-Taixé, Daniel Cremers
Direct methods have shown excellent performance in the applications of visual odometry and SLAM.
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.
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.
no code implementations • 8 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%.
1 code implementation • 12 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.
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.
no code implementations • 16 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).
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.
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.
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.
7 code implementations • 13 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.
no code implementations • 3 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).
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.
8 code implementations • 24 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.
4 code implementations • 17 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.