164 citations · 164 across the 1 of their papers we have counts for
5 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…
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…