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- | <room>02.09.055</room> | + | <name>Lukas von Stumberg</name> |
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+ | Find me on [[https:// | ||
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+ | ==== Research Interests ==== | ||
+ | My research interests are visual and visual-inertial SLAM, robotics, and 3D reconstruction. I like to apply both traditional methods and deep learning. | ||
+ | |||
+ | ==== Selected Projects ==== | ||
+ | === DM-VIO: Delayed Marginalization Visual-Inertial Odometry === | ||
+ | An open-source visual-inertial odometry system with state-of-the art results. | ||
+ | See https:// | ||
+ | < | ||
+ | <iframe width=" | ||
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+ | === LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization === | ||
+ | As a follow-up of our previous work GN-Net, LM-Reloc boosts the performance of direct image alignment for relocalization using a novel loss formulation, | ||
+ | < | ||
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+ | === GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization === | ||
+ | Using our novel Gauss-Newton loss we improve the robustness of direct methods against strong illumination changes and bad initializations. This allows us to accurately relocalize between different weathers. [[: | ||
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+ | === VI-DSO: Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization === | ||
+ | In my Master thesis on direct visual-inertial odometry we demonstrate state-of-the-art performance on the EuRoC dataset. [[: | ||
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+ | < | ||
+ | <iframe width=" | ||
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+ | === From Monocular SLAM to Autonomous Drone Exploration === | ||
+ | In my Bachelor thesis I have used LSD-SLAM to explore an unknown environment with an autonomous drone. | ||
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+ | < | ||
+ | <iframe width=" | ||
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