231 citations · 754 across the 6 of their papers we have counts for
8 papers
DM-VIO: Delayed Marginalization Visual-Inertial Odometry
Lukas von Stumberg, Daniel Cremers
We present DM-VIO, a monocular visual-inertial odometry system based on two novel techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO performs photom…
LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization
Lukas von Stumberg, Patrick Wenzel, Nan Yang +1
We present LM-Reloc -- a novel approach for visual relocalization based on direct image alignment. In contrast to prior works that tackle the problem with a feature-based formulati…
4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving
Patrick Wenzel, Rui Wang, Nan Yang +5
We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recogn…
D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry
Nan Yang, Lukas von Stumberg, Rui Wang +1
We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a no…
Rolling-Shutter Modelling for Direct Visual-Inertial Odometry
David Schubert, Nikolaus Demmel, Lukas von Stumberg +2
We present a direct visual-inertial odometry (VIO) method which estimates the motion of the sensor setup and sparse 3D geometry of the environment based on measurements from a roll…
Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization
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 error…
Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer
Vladyslav Usenko, Lukas von Stumberg, Andrej Pangercic +1
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high s…
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…