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09/29/2022
DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment
Direct methods have shown excellent performance in the applications of v...
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04/27/2022
Power Bundle Adjustment for Large-Scale 3D Reconstruction
We present the design and the implementation of a new expansion type alg...
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04/05/2022
The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions
The estimation of the relative pose of two camera views is a fundamental...
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10/08/2021
Multidirectional Conjugate Gradients for Scalable Bundle Adjustment
We revisit the problem of large-scale bundle adjustment and propose a te...
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09/12/2021
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions
In the future, extraterrestrial expeditions will not only be conducted b...
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09/05/2021
Square Root Marginalization for Sliding-Window Bundle Adjustment
In this paper we propose a novel square root sliding-window bundle adjus...
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08/16/2021
TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset
Event cameras are bio-inspired vision sensors which measure per pixel br...
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03/02/2021
Square Root Bundle Adjustment for Large-Scale Reconstruction
We propose a new formulation for the bundle adjustment problem which rel...
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11/20/2019
Efficient Derivative Computation for Cumulative B-Splines on Lie Groups
Continuous-time trajectory representation has recently gained popularity...
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11/04/2019
Rolling-Shutter Modelling for Direct Visual-Inertial Odometry
We present a direct visual-inertial odometry (VIO) method which estimate...
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04/13/2019
Visual-Inertial Mapping with Non-Linear Factor Recovery
Cameras and inertial measurement units are complementary sensors for ego...
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08/03/2018
LDSO: Direct Sparse Odometry with Loop Closure
In this paper we present an extension of Direct Sparse Odometry (DSO) to...
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08/01/2018
Direct Sparse Odometry with Rolling Shutter
Neglecting the effects of rolling-shutter cameras for visual odometry (V...
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07/24/2018
The Double Sphere Camera Model
Vision-based motion estimation and 3D reconstruction, which have numerou...
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04/17/2018