151 citations · 216 across the 2 of their papers we have counts for
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cs.CV2016★ 65 cited
Direct Sparse Odometry
Jakob Engel, Vladlen Koltun, Daniel Cremers
We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of…
cs.CV2016★ 151 cited
A Photometrically Calibrated Benchmark For Monocular Visual Odometry
Jakob Engel, Vladyslav Usenko, Daniel Cremers
We present a dataset for evaluating the tracking accuracy of monocular visual odometry and SLAM methods. It contains 50 real-world sequences comprising more than 100 minutes of vid…