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cs.CV2019
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…
cs.CV2019
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…
cs.CV2019
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…