38 citations · 73 across the 6 of their papers we have counts for
8 papers
Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study
Giovanni Cioffi, Titus Cieslewski, Davide Scaramuzza
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understandi…
AlphaPilot: Autonomous Drone Racing
Philipp Foehn, Dario Brescianini, Elia Kaufmann +4
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The syst…
Augmenting Visual Place Recognition with Structural Cues
Amadeus Oertel, Titus Cieslewski, Davide Scaramuzza
In this paper, we propose to augment image-based place recognition with structural cues. Specifically, these structural cues are obtained using structure-from-motion, such that no…
Exploration Without Global Consistency Using Local Volume Consolidation
Titus Cieslewski, Andreas Ziegler, Davide Scaramuzza
In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function p…
Matching Features without Descriptors: Implicitly Matched Interest Points
Titus Cieslewski, Michael Bloesch, Davide Scaramuzza
The extraction and matching of interest points is a prerequisite for many geometric computer vision problems. Traditionally, matching has been achieved by assigning descriptors to…
SIPs: Succinct Interest Points from Unsupervised Inlierness Probability Learning
Titus Cieslewski, Konstantinos G. Derpanis, Davide Scaramuzza
A wide range of computer vision algorithms rely on identifying sparse interest points in images and establishing correspondences between them. However, only a subset of the initial…
Data-Efficient Decentralized Visual SLAM
Titus Cieslewski, Siddharth Choudhary, Davide Scaramuzza
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not availab…
Efficient Decentralized Visual Place Recognition From Full-Image Descriptors
Titus Cieslewski, Davide Scaramuzza
In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable dec…