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members:demmeln [2020/06/25 12:01] Nikolaus Demmel |
members:demmeln [2023/06/17 00:33] Nikolaus Demmel |
Check out the projects I'm involved in: | Check out the projects I'm involved in: |
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| * [[https://github.com/simonwebertum/poba|Power Bundle Adjustment for Large-Scale 3D Reconstruction]] |
| * [[research:vslam:directtracker|DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment]] |
| * [[research:vslam:pnec|The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions]] |
| * [[research:vslam:rootvo|Square Root Marginalization for Sliding-Window Bundle Adjustment]] |
| * [[data:datasets:visual-inertial-event-dataset|TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset]] |
| * [[research:vslam:rootba|Square Root Bundle Adjustment for Large-Scale Reconstruction]] |
| * [[research:vslam:dpba|Distributed Photometric Bundle Adjustment]] |
| * [[research:vslam:lie-splines|Efficient Derivative Computation for Cumulative B-Splines on Lie Groups]] |
* [[data:datasets:rolling-shutter-dataset|Rolling Shutter Dataset]] | * [[data:datasets:rolling-shutter-dataset|Rolling Shutter Dataset]] |
* [[research:vslam:basalt|Basalt: Visual-Inertial Mapping with Non-Linear Factor Recovery | * [[research:vslam:basalt|Basalt: Visual-Inertial Mapping with Non-Linear Factor Recovery]] |
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* [[data:datasets:visual-inertial-dataset|TUMVI Dataset for Visual Inertial Odometry]] | * [[data:datasets:visual-inertial-dataset|TUMVI Dataset for Visual Inertial Odometry]] |
* [[research:vslam:ldso|LDSO - Direct Sparse Odometry with Loop Closure]] | * [[research:vslam:ldso|LDSO - Direct Sparse Odometry with Loop Closure]] |
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==== Courses ==== | ==== Courses ==== |
| * WS21: Practical course [[teaching:ws2021:visnav_ws2021|Vision Based Navigation]] together with [[members:klenk]] and [[members:chui]]. |
| * SS21: Practical course [[teaching:ss2021:visnav_ss2021|Vision Based Navigation]] together with [[members:schubdav]] and [[members:chui]]. |
* WS20: Practical course [[teaching:ws2020:visnav_ws2020|Vision Based Navigation]] together with [[members:schubdav]]. | * WS20: Practical course [[teaching:ws2020:visnav_ws2020|Vision Based Navigation]] together with [[members:schubdav]]. |
* SS20: Practical course [[teaching:ss2020:visnav_ss2020|Vision Based Navigation]] together with [[members:usenko]] and [[members:schubdav]]. | * SS20: Practical course [[teaching:ss2020:visnav_ss2020|Vision Based Navigation]] together with [[members:usenko]] and [[members:schubdav]]. |
* WS19: Practical course [[teaching:ws2019:visnav_ws2019|Vision Based Navigation]] together with [[members:usenko]]. | * WS19: Practical course [[teaching:ws2019:visnav_ws2019|Vision Based Navigation]] together with [[members:usenko]]. |
* SS19: Practical course [[teaching:ss2019:visnav_ss2019|Vision Based Navigation]] together with [[members:usenko]]. | * SS19: Practical course [[teaching:ss2019:visnav_ss2019|Vision Based Navigation]] together with [[members:usenko]]. [[:awards#teaching_award_2020|Awarded]] by the department as <color #ed1c24>best practical course 2018/19</color>. |
* WS18/19: Practical course [[teaching:ws2018:visnav_ws2018|Vision Based Navigation]] together with [[members:usenko]]. | * WS18/19: Practical course [[teaching:ws2018:visnav_ws2018|Vision Based Navigation]] together with [[members:usenko]]. [[:awards#teaching_award_2020|Awarded]] by the department as <color #ed1c24>best practical course 2018/19</color>. |
* SS18: Tutorial for [[teaching:ss2018:mvg2018|Computer Vision II: Multiple View Geometry]] together with [[members:eisenber]]. Lecturer: [[members:cremers]]. | * SS18: Tutorial for [[teaching:ss2018:mvg2018|Computer Vision II: Multiple View Geometry]] together with [[members:eisenber]]. Lecturer: [[members:cremers]]. |
* WS17/18: Tutorial for [[teaching:ws2017:vmcv2017|Computer Vision I: Variational Methods]] together with [[members:sommerc]]. Lecturer: [[members:queau]]. | * WS17/18: Tutorial for [[teaching:ws2017:vmcv2017|Computer Vision I: Variational Methods]] together with [[members:sommerc]]. Lecturer: [[members:queau]]. |
Previously completed student projects include: | Previously completed student projects include: |
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* Co-supervision (with [[members:usenko]]): Tim Stricker, "Efficient Techniques for Accurate Visual Place Recognition", Master Thesis, June 2020. {{ :members:demmeln:stricker2020ma.pdf |thesis}} {{ :members:demmeln:stricker2020ma_slides.pdf |slides}} | * Supervision (with [[members:usenko]]): Michael Loipführer, "Efficient and Robust Circle Grids for Fiducial Detection," Master Thesis, May 2022. {{ :members:demmeln:loipfuehrer2022ma.pdf |report}}{{ :members:demmeln:loipfuehrer2022ma_slides.pdf |slides}} |
* Supervision: Simon Klenk, "Photometric Bundle Adjustment for Globally Consistent Mapping", Master Thesis, June 2020. {{ :members:demmeln:klenk2020ma.pdf |thesis}} {{ :members:demmeln:klenk2020ma_slides.pdf |slides}} | * Supervision (with [[members:webersi]]): Tin Chon Chan, "Factor Grouping for Efficient Bundle Adjustment," Master Thesis, April 2022. {{ :members:demmeln:chan2022ma.pdf |report}} {{ :members:demmeln:chan2022ma_slides.pdf |slides}} |
* Co-supervision (with [[members:usenko]]): Pak Hong Chui, "Visual-Inertial Simultaneous Localization and Mapping with Multiple Cameras", Master Thesis, April 2020. {{ :members:demmeln:chui2020ma.pdf |thesis}} {{ :members:demmeln:chui2020ma_slides.pdf |slides}} | * Co-supervision (with [[members:sommerc]]): Alexander Gaul, "Large Scale Photometric Bundle Adjustment," Interdisciplinary Project, October 2021. {{ :members:demmeln:gaul2021idp.pdf |report}} {{ :members:demmeln:gaul2021idp_slides.pdf |slides}} |
* Co-supervision (with [[members:laudee]]): [[members:hofherrf]], "Joint Optimization of Pose And Depth Using a Prox-Linear Approach", Master Thesis, December 2019. {{ :members:demmeln:hofherr2019ma.pdf |thesis}} {{ :members:demmeln:hofherr2019ma_slides.pdf |slides}} | * Co-supervision (with [[members:koestlel]]): Dominik Muhle, "Frame-To-Frame Rotation Estimation under Uncertain Feature Positions for Visual Odometry," Master Thesis, September 2021. {{ :members:demmeln:muhle2021ma.pdf |report}} {{ :members:demmeln:muhle2021ma_slides.pdf |slides}} [[research:vslam:pnec|paper]] |
* Co-supervision (with Jens Harnisch, Infineon Technologies AG): Abdul Hannan Khan, "Face Recognition with a 3D Camera On an Embedded Processor", Master Thesis, November 2019. {{ :members:demmeln:khan2019ma.pdf |thesis}} {{ :members:demmeln:khan2019ma_slides.pdf |slides}} | * External advisor (supervision: [[http://www.sussex.ac.uk/profiles/335853|Dr. Cornelia Bühlmann]], [[https://profiles.sussex.ac.uk/p91528-paul-graham|Prof. Paul Graham]]): Jose Adrian Vega Vermehren, "Biomimetic Visual Navigation: Understanding the Visual Ecology of Expert Navigators through Virtual Reality," Master Thesis, August 2021. {{ :members:demmeln:vega2021ma.pdf |report}} {{ :members:demmeln:vega2021ma_slides.pdf |slides}} |
* Supervision (with [[https://www.ht.mw.tum.de/en/staff/tim-mehling-msc/|Tim Mehling]]): [[https://www.3dunderstanding.org/team.html|Pablo Rodríguez Palafox]], "Local Tracking and Mapping for Direct Visual SLAM", Master Thesis, October 2019. {{ :members:demmeln:palafox2019ma.pdf |thesis}} {{ :members:demmeln:palafox2019ma_slides.pdf |slides}} | * Supervision: Erkam Uyanik, "Local and Global Mapping for Direct SLAM," Master Thesis, June 2021. {{ :members:demmeln:uyanik2021ma.pdf |report}} {{ :members:demmeln:uyanik2021ma_slides.pdf |slides}} |
* Co-supervision (with [[https://www.magazino.eu|Dr. Ulrich Klank, Magazino GmbH]]): Kanstantsin Tkachuk, "3D Scene Reconstruction for 2D Object Recognition", Bachelor Thesis, September 2019. {{ :members:demmeln:tkachuk2019ba.pdf |thesis}} {{ :members:demmeln:tkachuk2019ba_slides.pdf |slides}} | * Supervision (with [[members:schubdav]]): Zhakshylyk Nurlanov, "Exploring SO(3) logarithmic map: degeneracies and derivatives," Student Project, May 2021. {{ :members:demmeln:nurlanov2021so3log.pdf |report}} {{ :members:demmeln:nurlanov2021so3log_slides.pdf |slides}} |
* Co-supervision (with [[members:stueckle]]): Anton Troynikov, "Photometric Odometry for Dynamic Objects", Master Thesis, April 2019. {{ :members:demmeln:troynikov2019msc.pdf |thesis}} {{ :members:demmeln:troynikov2019msc_slides.pdf |slides}} [[http://troynikov.io/dynamic-photometric-odometry/|Blog]] | * Supervision: Ahmed Agha, "Combining Direct and Indirect Features for Efficient Visual Inertial Odometry," Guided Research, April 2021. {{ :members:demmeln:agha2021grp_slides.pdf |slides}} |
* Supervision: Maurice Hermwille, "Vignette Calibration for Fisheye Lenses", Master Thesis, September 2018. {{ :members:demmeln:hermwille2018msc.pdf |thesis}} {{ :members:demmeln:hermwille2018msc_slides.pdf |slides}} | * Co-supervision (with [[https://dvl.in.tum.de/team/osep/|Aljosa Osep]]): Nikita Korobov, "Direct Object Tracking," Guided Research, April 2021. {{ :members:demmeln:korobov2021grp.pdf |report}} {{ :members:demmeln:korobov2021grp_slides.pdf |slides}} |
* Co-Supervision (with [[members:wuta]], [[members:laudee]]): Zhongnan Qu, "Efficient Optimization for Robust Bundle Adjustment", Master Thesis, March 2018. {{ :members:demmeln:qu2018msc.pdf |thesis}} {{ :members:demmeln:qu2018msc_slides.pdf |slides}} | * External advisor (supervision: [[https://www.dlr.de/rm/desktopdefault.aspx/tabid-3858/16537_read-33799/sortby-lastname/|Markus Müller]] and [[https://www.dlr.de/rm/desktopdefault.aspx/tabid-3858/16537_read-30001/sortby-lastname/|Dr. Wolfgang Stürzl]]): Martin Wudenka, "Design and Implementation of an Odometry System for the ARDEA MAV Platform," Master Thesis, March 2021. |
| * Co-supervision (with [[https://dvl.in.tum.de/team/osep/|Aljosa Osep]]): Anselm Coogan, "BAMOT: Bundle Adjustment for Multiple-Object Tracking - a Stereo-based Approach," Master Thesis, March 2021. {{ :members:demmeln:coogan2021ma.pdf |thesis}} {{ :members:demmeln:coogan2021ma_slides.pdf |slides}} [[https://github.com/AnselmC/bamot|code]] |
| * Co-supervision (with [[https://dvl.in.tum.de/team/osep/|Aljosa Osep]]): Maximilian Kempa, "Incorporating Large Vocabulary Object Detection and Tracking into Visual SLAM," Master Thesis, December 2020. {{ :members:demmeln:kempa2020ma.pdf |thesis}} {{ :members:demmeln:kempa2020ma_slides.pdf |slides}} |
| * Supervision: Erkam Uyanik, "Local and Global Mapping for Direct SLAM," Guided Research, November 2020. {{ :members:demmeln:uyanik2020gr.pdf |report}} {{ :members:demmeln:uyanik2020gr_slides.pdf |slides}} |
| * Co-supervision (with [[members:yangn]], [[members:koestlel]]): Rémi Piau, "Toward Fast Deep Visual Place Recognition," Internship, August 2020. {{ :members:demmeln:piau20internship_slides.pdf |slides}} |
| * Supervision: Mariia Gladkova, "Feature-based Initialization for Monocular Direct Visual Odometry," Interdisciplinary Project, July 2020. {{ :members:demmeln:gladkova2020idp.pdf |report}} {{ :members:demmeln:gladkova2020idp_slides.pdf |slides}} |
| * Supervision: Xingwei Qu, "Photometric Based Loop Closure Correction and Pose Graph Optimization With Non-linear Factor Recovery," Interdisciplinary Project, July 2020. {{ :members:demmeln:qu2020idp.pdf |report}} |
| * Co-supervision (with [[members:usenko]]): Tim Stricker, "Efficient Techniques for Accurate Visual Place Recognition," Master Thesis, June 2020. {{ :members:demmeln:stricker2020ma.pdf |thesis}} {{ :members:demmeln:stricker2020ma_slides.pdf |slides}} |
| * Supervision: Simon Klenk, "Photometric Bundle Adjustment for Globally Consistent Mapping," Master Thesis, June 2020. {{ :members:demmeln:klenk2020ma.pdf |thesis}} {{ :members:demmeln:klenk2020ma_slides.pdf |slides}} |
| * External advisor (supervision: [[members:usenko]]): Pak Hong Chui, "Visual-Inertial Simultaneous Localization and Mapping with Multiple Cameras," Master Thesis, April 2020. {{ :members:demmeln:chui2020ma.pdf |thesis}} {{ :members:demmeln:chui2020ma_slides.pdf |slides}} |
| * Co-supervision (with [[members:laudee]]): [[members:hofherrf]], "Joint Optimization of Pose And Depth Using a Prox-Linear Approach," Master Thesis, December 2019. {{ :members:demmeln:hofherr2019ma.pdf |thesis}} {{ :members:demmeln:hofherr2019ma_slides.pdf |slides}} |
| * Co-supervision (with Jens Harnisch, Infineon Technologies AG): Abdul Hannan Khan, "Face Recognition with a 3D Camera On an Embedded Processor," Master Thesis, November 2019. {{ :members:demmeln:khan2019ma.pdf |thesis}} {{ :members:demmeln:khan2019ma_slides.pdf |slides}} |
| * Supervision (with [[https://www.ht.mw.tum.de/en/staff/tim-mehling-msc/|Tim Mehling]]): [[https://www.3dunderstanding.org/team.html|Pablo Rodríguez Palafox]], "Local Tracking and Mapping for Direct Visual SLAM," Master Thesis, October 2019. {{ :members:demmeln:palafox2019ma.pdf |thesis}} {{ :members:demmeln:palafox2019ma_slides.pdf |slides}} |
| * Co-supervision (with [[https://www.magazino.eu|Dr. Ulrich Klank, Magazino GmbH]]): Kanstantsin Tkachuk, "3D Scene Reconstruction for 2D Object Recognition," Bachelor Thesis, September 2019. {{ :members:demmeln:tkachuk2019ba.pdf |thesis}} {{ :members:demmeln:tkachuk2019ba_slides.pdf |slides}} |
| * Supervision (with [[members:stueckle]]): Anton Troynikov, "Photometric Odometry for Dynamic Objects," Master Thesis, April 2019. {{ :members:demmeln:troynikov2019msc.pdf |thesis}} {{ :members:demmeln:troynikov2019msc_slides.pdf |slides}} [[http://troynikov.io/dynamic-photometric-odometry/|Blog]] |
| * Supervision: Maurice Hermwille, "Vignette Calibration for Fisheye Lenses," Master Thesis, September 2018. {{ :members:demmeln:hermwille2018msc.pdf |thesis}} {{ :members:demmeln:hermwille2018msc_slides.pdf |slides}} |
| * Co-Supervision (with [[members:wuta]], [[members:laudee]]): Zhongnan Qu, "Efficient Optimization for Robust Bundle Adjustment," Master Thesis, March 2018. {{ :members:demmeln:qu2018msc.pdf |thesis}} {{ :members:demmeln:qu2018msc_slides.pdf |slides}} |
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