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members:stumberg [2020/06/02 13:09] stumberg |
members:stumberg [2022/11/07 18:39] stumberg |
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==== 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 of direct methods against strong illumination changes and bad initializations. This allows us to accurately relocalize between different weathers. [[:gn-net|Project Page]] | An open-source visual-inertial odometry system with state-of-the art results. |
| See https://github.com/lukasvst/dm-vio |
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<iframe width="560" height="315" src="https://www.youtube.com/embed/q_uVb_o255o" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | <iframe width="560" height="315" src="https://www.youtube.com/embed/7iep3BvcJPU" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> |
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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, and a pose estimation network. |
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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. [[:gn-net|Project Page]] |
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| <html> |
| <iframe width="560" height="315" src="https://www.youtube.com/embed/q_uVb_o255o" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> |
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