474 citations · 876 across the 8 of their papers we have counts for
8 papers
Meta-Learning for Automated Selection of Anomaly Detectors for Semi-Supervised Datasets
David Schubert, Pritha Gupta, Marcel Wever
In anomaly detection, a prominent task is to induce a model to identify anomalies learned solely based on normal data. Generally, one is interested in finding an anomaly detector t…
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…
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…
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…
Visual-Inertial Mapping with Non-Linear Factor Recovery
Vladyslav Usenko, Nikolaus Demmel, David Schubert +2
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems m…