94 citations · 198 across the 10 of their papers we have counts for
3 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…