384 citations · 915 across the 7 of their papers we have counts for
7 papers
Project Aria: A New Tool for Egocentric Multi-Modal AI Research
Jakob Engel, Kiran Somasundaram, Michael Goesele +71
Egocentric, multi-modal data as available on future augmented reality (AR) devices provides unique challenges and opportunities for machine perception. These future devices will ne…
Long-term Visual Map Sparsification with Heterogeneous GNN
Ming-Fang Chang, Yipu Zhao, Rajvi Shah +3
We address the problem of map sparsification for long-term visual localization. For map sparsification, a commonly employed assumption is that the pre-build map and the later captu…
TLIO: Tight Learned Inertial Odometry
Wenxin Liu, David Caruso, Eddy Ilg +5
In this work we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU…
The Replica Dataset: A Digital Replica of Indoor Spaces
Julian Straub, Thomas Whelan, Lingni Ma +27
We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-d…
From Monocular SLAM to Autonomous Drone Exploration
Lukas von Stumberg, Vladyslav Usenko, Jakob Engel +2
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sens…
Direct Sparse Odometry
Jakob Engel, Vladlen Koltun, Daniel Cremers
We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of…
A Photometrically Calibrated Benchmark For Monocular Visual Odometry
Jakob Engel, Vladyslav Usenko, Daniel Cremers
We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of vid…