474 citations · 1k across the 12 of their papers we have counts for
14 papers
DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment
Mariia Gladkova, Nikita Korobov, Nikolaus Demmel +3
Direct methods have shown excellent performance in the applications of visual odometry and SLAM. In this work we propose to leverage their effectiveness for the task of 3D multi-ob…
The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions
Dominik Muhle, Lukas Koestler, Nikolaus Demmel +2
The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar…
Multidirectional Conjugate Gradients for Scalable Bundle Adjustment
Simon Weber, Nikolaus Demmel, Daniel Cremers
We revisit the problem of large-scale bundle adjustment and propose a technique called Multidirectional Conjugate Gradients that accelerates the solution of the normal equation by…
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions
Martin Wudenka, Marcus G. Müller, Nikolaus Demmel +4
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, w…
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…
TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset
Simon Klenk, Jason Chui, Nikolaus Demmel +1
Event cameras are bio-inspired vision sensors which measure per pixel brightness changes. They offer numerous benefits over traditional, frame-based cameras, including low latency,…
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…
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…
LDSO: Direct Sparse Odometry with Loop Closure
Xiang Gao, Rui Wang, Nikolaus Demmel +1
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct…
Direct Sparse Odometry with Rolling Shutter
David Schubert, Nikolaus Demmel, Vladyslav Usenko +2
Neglecting the effects of rolling-shutter cameras for visual odometry (VO) severely degrades accuracy and robustness. In this paper, we propose a novel direct monocular VO method t…
The Double Sphere Camera Model
Vladyslav Usenko, Nikolaus Demmel, Daniel Cremers
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are…
The TUM VI Benchmark for Evaluating Visual-Inertial Odometry
David Schubert, Thore Goll, Nikolaus Demmel +3
Visual odometry and SLAM methods have a large variety of applications in domains such as augmented reality or robotics. Complementing vision sensors with inertial measurements trem…