25 citations · 25 across the 4 of their papers we have counts for
4 papers · 1 filter
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…