384 citations · 915 across the 7 of their papers we have counts for
3 papers · 1 filter
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…