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members:stumberg [2020/06/02 13:05] stumberg |
members:stumberg [2022/11/07 18:39] stumberg |
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Find me on [[https:// | Find me on [[https:// | ||
- | ===== Research Interests | + | ==== 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. | 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 | + | ==== Selected Projects ==== |
- | === GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization | + | === DM-VIO: Delayed Marginalization Visual-Inertial Odometry |
- | Using our novel Gauss-Newton loss we improve the robustness | + | An open-source visual-inertial odometry system with state-of-the art results. |
+ | See https:// | ||
< | < | ||
- | <iframe width=" | + | <iframe width=" |
</ | </ | ||
< | < | ||
+ | <iframe width=" | ||
+ | </ | ||
+ | |||
+ | === 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, | ||
+ | < | ||
+ | <iframe width=" | ||
+ | </ | ||
+ | |||
+ | === 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. [[: | ||
+ | |||
+ | < | ||
+ | <iframe width=" | ||
+ | <br/> | ||
<iframe width=" | <iframe width=" | ||
</ | </ |