94 citations · 198 across the 10 of their papers we have counts for
6 papers · 1 filter
Gradient-SDF: A Semi-Implicit Surface Representation for 3D Reconstruction
Christiane Sommer, Lu Sang, David Schubert +1
We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations. By storing at every voxel both the signed dist…
Square Root Marginalization for Sliding-Window Bundle Adjustment
Nikolaus Demmel, David Schubert, Christiane Sommer +2
In this paper we propose a novel square root sliding-window bundle adjustment suitable for real-time odometry applications. The square root formulation pervades three major aspects…
Square Root Bundle Adjustment for Large-Scale Reconstruction
Nikolaus Demmel, Christiane Sommer, Daniel Cremers +1
We propose a new formulation for the bundle adjustment problem which relies on nullspace marginalization of landmark variables by QR decomposition. Our approach, which we call squa…
PrimiTect: Fast Continuous Hough Voting for Primitive Detection
Christiane Sommer, Yumin Sun, Erik Bylow +1
This paper tackles the problem of data abstraction in the context of 3D point sets. Our method classifies points into different geometric primitives, such as planes and cones, lead…
From Planes to Corners: Multi-Purpose Primitive Detection in Unorganized 3D Point Clouds
Christiane Sommer, Yumin Sun, Leonidas Guibas +2
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three ort…
Efficient Derivative Computation for Cumulative B-Splines on Lie Groups
Christiane Sommer, Vladyslav Usenko, David Schubert +2
Continuous-time trajectory representation has recently gained popularity for tasks where the fusion of high-frame-rate sensors and multiple unsynchronized devices is required. Lie…