474 citations · 1.8k across the 20 of their papers we have counts for
5 papers · 2 filters
Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras
Hidenobu Matsuki, Lukas von Stumberg, Vladyslav Usenko +2
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional mode…
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…
Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization
Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers
We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement error…
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…