474 citations · 1.8k across the 20 of their papers we have counts for
20 papers
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…
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…
Squeezing-enhanced quantum key distribution over atmospheric channels
Ivan Derkach, Vladyslav C. Usenko, Radim Filip
We propose the Gaussian continuous-variable quantum key distribution using squeezed states in the composite channels including atmospheric propagation with transmittance fluctuatio…