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@inproceedings{Stuehmer-et-al-dagm10,
author = {J. Stühmer and S. Gumhold and D. Cremers},
title = {Real-Time Dense Geometry from a Handheld Camera},
booktitle = {Pattern Recognition (Proc. DAGM)},
pages = {11-20},
year = {2010},
address = {Darmstadt, Germany},
month = {September},
titleurl = {stuehmer_et_al_dagm10.pdf},
keywords = {3d-reconstruction, rgb-d, dense, monocular, slam, vslam},
topic = {3D Reconstruction},
}
@inproceedings{Stuehmer-et-al-cvgpu10,
author = {J. Stühmer and S. Gumhold and D. Cremers},
title = {Parallel Generalized Thresholding Scheme for Live Dense Geometry from a Handheld Camera},
booktitle = {ECCV Workshop on Computer Vision on GPUs (CVGPU)},
year = {2010},
address = {Heraklion, Greece},
month = {September},
keywords = {3d-reconstruction, rgb-d, dense, monocular, slam, vslam},
topic = {3D Reconstruction},
}
@inproceedings{engelhard11euron,
title = {Real-time 3D visual SLAM with a hand-held camera},
author = {N. Engelhard and F. Endres and J. Hess and J. Sturm and W. Burgard},
booktitle = {Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum},
address = {Vasteras, Sweden},
year = {2011},
month = {April},
keywords = {rgb-d,rgb-d benchmark,vslam},
titleurl = {http://youtu.be/NR-ycTNcQu0},
}
@inproceedings{sturm11rss-rgbd,
title = {Towards a benchmark for RGB-D SLAM evaluation},
author = {J. Sturm and S. Magnenat and N. Engelhard and F. Pomerleau and F. Colas and W. Burgard and D. Cremers and R. Siegwart},
booktitle = {Proc. of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf.~(RSS)},
address = {Los Angeles, USA},
year = {2011},
month = {June},
keywords = {rgb-d,rgb-d benchmark,vslam},
titleurl = {sturm_et_al_rss11-talk.pdf},
}
@inproceedings{steinbruecker_sturm_cremers_iccv11,
author = {F. Steinbruecker and J. Sturm and D. Cremers},
title = {Real-Time Visual Odometry from Dense {RGB-D} Images},
booktitle = {Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV)},
year = {2011},
keywords = {dense visual odometry,rgb-d,rgb-d benchmark,vo,vslam},
}
@inproceedings{endres12icra,
author = {F. Endres and J. Hess and N. Engelhard and J. Sturm and D. Cremers and W. Burgard},
title = {An Evaluation of the {RGB-D SLAM} System},
booktitle = {International Conference on Robotics and Automation (ICRA)},
address = {St. Paul, MA, USA},
month = {May},
year = {2012},
keywords = {rgb-d,rgb-d benchmark,sturmselection,vslam},
}
@inproceedings{engel12iros,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Camera-Based Navigation of a Low-Cost Quadrocopter},
booktitle = {Proc. of the International Conference on Intelligent Robot Systems (IROS)},
year = {2012},
month = {Oct.},
keywords = {quadrocopter,ardrone,sturmselection,vslam},
}
@inproceedings{sturm12iros,
author = {J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers},
title = {A Benchmark for the Evaluation of RGB-D SLAM Systems},
booktitle = {Proc. of the International Conference on Intelligent Robot Systems (IROS)},
year = {2012},
month = {Oct.},
keywords = {rgb-d,rgb-d benchmark,sturmselection,dataset,vslam},
}
@inproceedings{engel12vicomor,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing},
booktitle = {Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS)},
year = {2012},
month = {Oct.},
keywords = {quadrocopter, ardrone,inertial,vslam},
}
@inproceedings{sturm12iros_ws,
author = {J. Sturm and W. Burgard and D. Cremers},
title = {Evaluating Egomotion and Structure-from-Motion Approaches Using
the {TUM RGB-D} Benchmark},
booktitle = {Proc. of the Workshop on Color-Depth Camera Fusion in
Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems
(IROS)},
year = {2012},
month = {Oct.},
keywords = {rgb-d,rgb-d benchmark,dataset,vo,vslam},
}
@mastersthesis{engel2011msc,
author = {J. Engel},
title = {Autonomous Camera-Based Navigation of a Quadrocopter},
school = {Technical University Munich},
address = {Germany},
year = {2011},
month = {Dec.},
keywords = {quadrocopter, ardrone, vslam},
award = {Distinguished with the SIEMENS award for best Master's Thesis 2012},
}
@inproceedings{sommer18joint,
author = {C. Sommer and D. Cremers},
title = {Joint Representation of Primitive and Non-primitive Objects for 3D
Vision},
booktitle = {2018 International Conference on 3D Vision, 3DV 2018, Verona, Italy,
September 5-8, 2018},
pages = {160--169},
publisher = {{IEEE} Computer Society},
doi = {10.1109/3DV.2018.00028},
year = {2018},
keywords = {Geometry Processing, SLAM},
}
@mastersthesis{kerl2012msc,
author = {C. Kerl},
title = {Odometry from {RGB-D} Cameras for Autonomous Quadrocopters},
school = {Technical University Munich},
address = {Germany},
year = {2012},
month = {Nov.},
keywords = {quadrocopter,dense visual odometry,rgb-d,rgb-d benchmark,vo,vslam},
}
@misc{sturm12lecturenotes,
author = {J. Sturm},
title = {{Lecture Notes: Visual Navigation for Flying Robots}},
howpublished = {Technische Universit\"at M\"unchen, Germany},
year = {2012},
month = {June},
keywords = {quadrocopter,sturmselection,vslam},
award = {Distinguished with the TUM TeachInf Award for the best lecture in summer term 2012},
}
@misc{visnav2013lecturenotes,
author = {J. Sturm},
title = {{Lecture Notes: Visual Navigation for Flying Robots}},
howpublished = {Technische Universit\"at M\"unchen, Germany},
year = {2013},
month = {June},
keywords = {quadrocopter,vslam},
award = {Distinguished with the TUM TeachInf Award for the best lecture in summer term 2013},
}
@inproceedings{kerl13icra,
title = {Robust Odometry Estimation for RGB-D Cameras},
author = {C. Kerl and J. Sturm and D. Cremers},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2013},
month = {May},
award = {Best Vision Paper Award - Finalist},
keywords = {dense visual odometry,rgb-d,rgb-d benchmark,sturmselection,vo,vslam},
}
@inproceedings{weikersdorfer_et_al_icra14,
author = {D. B. AD. CJ. C D. Weikersdorfer},
title = {Event-based 3D SLAM with a depth-augmented dynamic vision sensor},
booktitle = {International Conference on Robotics and Automation (ICRA)},
keywords = {vslam},
year = {2014},
}
@inproceedings{bylow_etal_rss2013,
title = {Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions},
author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
booktitle = {Robotics: Science and Systems Conference (RSS)},
year = {2013},
month = {June},
keywords = {rgb-d,rgb-d benchmark,sturmselection,vslam},
}
@inproceedings{bylow_etal_rss2013rgbd_workshop,
title = {Direct Camera Pose Tracking and Mapping With Signed Distance Functions},
author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
booktitle = {Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS)},
year = {2013},
month = {June},
keywords = {rgb-d,rgb-d benchmark,vslam},
}
@inproceedings{kerl13iros,
author = {C. Kerl and J. Sturm and D. Cremers},
title = {Dense Visual SLAM for RGB-D Cameras},
booktitle = {Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)},
year = {2013},
keywords = {dense visual odometry,dense visual slam,rgb-d,rgb-d benchmark,vslam},
}
@article{endres2013tro,
author = {F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard},
title = {3D Mapping with an {RGB-D} Camera},
journal = {IEEE Transactions on Robotics (T-RO)},
volume = {30},
number = {1},
pages = {177-187},
year = {2013},
keywords = {vslam},
}
@inproceedings{sturm_etal_2013uavg,
author = {J. Sturm and E. Bylow and F. Kahl and D. Cremers},
title = {Dense Tracking and Mapping with a Quadrocopter},
year = {2013},
address = {Rostock, Germany},
month = {September},
booktitle = {Unmanned Aerial Vehicle in Geomatics (UAV-g)},
keywords = {rgb-d,rgb-d benchmark,quadrocopter,vslam},
}
@inproceedings{engel2013iccv,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Semi-Dense Visual Odometry for a Monocular Camera},
year = {2013},
address = {Sydney, Australia},
month = {December},
booktitle = {IEEE International Conference on Computer Vision (ICCV)},
keywords = {rgb-d, visual odometry, monocular, slam, semidense, vslam},
}
@inproceedings{KuschkBC17,
author = {G. Kuschk and A. Bozic and D. Cremers},
title = {Real-time variational stereo reconstruction with applications to large-scale
dense {SLAM}},
booktitle = {{IEEE} Intelligent Vehicles Symposium, {IV} 2017, Los Angeles, CA,
USA, June 11-14, 2017},
pages = {1348--1355},
publisher = {{IEEE}},
year = {2017},
keywords = {vslam},
}
@mastersthesis{maier2013thesis,
author = {R. Maier},
title = {Out-of-Core Bundle Adjustment for 3D Workpiece Reconstruction},
school = {Technische Universität München},
address = {Germany},
year = {2013},
month = {September},
keywords = {rgb-d,rgb-d benchmark,student-project,vslam},
}
@inproceedings{Steinbruecker-etal-iccv13,
author = {F. Steinbruecker and C. Kerl and J. Sturm and D. Cremers},
title = {Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences},
booktitle = {IEEE International Conference on Computer Vision (ICCV)},
year = {2013},
address = {Sydney, Australia},
titleurl = {steinbruecker_etal_iccv2013.pdf},
topic = {3D Reconstruction},
keywords = {RGB-D,Fusion,3d-reconstruction,vslam},
}
@inproceedings{Steinbruecker-etal-icra14,
author = {F. Steinbruecker and J. Sturm and D. Cremers},
title = {Volumetric 3D Mapping in Real-Time on a CPU},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2014},
address = {Hongkong, China},
titleurl = {steinbruecker_etal_icra2014.pdf},
topic = {3D Reconstruction},
keywords = {RGB-D,Fusion,3d-reconstruction,vslam},
}
@article{engel14ras,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera},
journal = {Robotics and Autonomous Systems (RAS)},
year = {2014},
volume = {62},
number = {11},
pages = {1646-–1656},
topic = {quadrocopter, ardrone},
keywords = {quadrocopter, ardrone, vslam},
}
@inproceedings{alvarez14iser,
author = {H. Alvarez and L.M. Paz and J. Sturm and D. Cremers},
title = {Collision Avoidance for Quadrotors with a Monocular
Camera},
booktitle = {Proc. of The 12th International Symposium on Experimental Robotics (ISER)},
year = {2014},
keywords = {vslam},
}
@inproceedings{engel14eccv,
author = {J. Engel and T. Schöps and D. Cremers},
title = {{LSD-SLAM}: Large-Scale Direct Monocular {SLAM}},
year = {2014},
month = {September},
booktitle = {European Conference on Computer Vision (ECCV)},
keywords = {rgb-d, monocular, slam, semidense, lsdslam, vslam},
award = {Oral Presentation},
}
@inproceedings{schoeps14ismar,
author = {T. Schöps and J. Engel and D. Cremers},
title = {Semi-Dense Visual Odometry for {AR} on a Smartphone},
year = {2014},
month = {September},
booktitle = {International Symposium on Mixed and Augmented Reality},
keywords = {rgb-d, monocular, slam, semidense, lsdslam, ar, vo, vslam},
award = {Best Short Paper Award},
}
@inproceedings{maier2014gcpr,
author = {R. Maier and J. Sturm and D. Cremers},
title = {Submap-based Bundle Adjustment for 3D Reconstruction from RGB-D Data},
booktitle = {German Conference on Pattern Recognition (GCPR)},
year = {2014},
address = {M\"unster, Germany},
month = {September},
keywords = {rgb-d,rgb-d benchmark,vslam},
award = {Oral Presentation},
}
@mastersthesis{schoeps14msc,
author = {T Schöps},
advisors = {J. Engel and D. Cremers},
paper = {schoeps14ismar, engel14eccv},
title = {Semi-dense visual {SLAM} on mobile devices},
school = {Technical University Munich},
address = {Germany},
year = {2014},
month = {May},
keywords = {student-project,vslam},
}
@mastersthesis{shelley14msc,
author = {M. Shelley},
advisors = {J. Engel and D. Cremers},
title = {Monocular Visual Inertial Odometry on a Mobile Device},
school = {Technical University Munich},
address = {Germany},
year = {2014},
month = {Aug.},
keywords = {student-project,vo,vio,vslam},
}
@inproceedings{dunkley14iros,
author = {O. Dunkley and J. Engel and J. Sturm and D. Cremers},
title = {Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor},
booktitle = {IROS2014 Aerial Open Source Robotics Workshop},
year = {2014},
keywords = {nanocopter,vo,vio,vslam},
}
@mastersthesis{dunkley14msc,
author = {OMW Dunkley},
advisors = {J. Engel and J. Sturm and D. Cremers},
title = {Visual Inertial Control of a Nano-Quadrotor},
school = {Technical University Munich},
address = {Germany},
year = {2014},
month = {Sept.},
keywords = {student-project, nanocopter,vo,vio,vslam},
}
@article{jaimez2015tro,
author = {M. Jaimez and J. Gonzalez-Jimenez},
title = {Fast Visual Odometry for 3-D Range Sensors},
journal = {IEEE Transactions on Robotics},
year = {2015},
volume = {31},
number = {4},
pages = {809--822},
keywords = {rgb-d, 3d reconstruction, tracking, vo, vslam},
}
@article{stueckler-jvcir14,
author = {J. Stueckler and S. Behnke},
title = {Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking},
journal = {Journal of Visual Communication and Image Representation},
titleurl = {stueckler-jvcir14.pdf},
volume = {25},
issue = {1},
pages = {137--147},
month = {jan},
year = {2014},
doi = {10.1016/j.jvcir.2013.02.008},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf},
}
@inproceedings{stueckler-ias14,
author = {D. Droeschel and J. Stueckler and S. Behnke},
title = {Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping},
booktitle = {Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS)},
pages = {to appear},
month = {jul},
year = {2014},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/IAS_2014_Droeschel_MAV-Mapping.pdf},
}
@inproceedings{stueckler-isrrobotik14,
author = {J. Stueckler and A. Gutt and S. Behnke},
title = {Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry},
booktitle = {Proc. of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK)},
pages = {to appear},
month = {jun},
year = {2014},
keywords = {vo, vslam},
url = {http://ais.uni-bonn.de/papers/ISR_Robotik_2014_Stueckler.pdf},
}
@inproceedings{droeschel-icra14,
author = {D. Droeschel and J. Stueckler and S. Behnke},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
title = {Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner},
year = {2014},
month = {may},
pages = {5221-5226},
doi = {10.1109/ICRA.2014.6907626},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/ICRA_2014_Droeschel.pdf},
}
@inproceedings{schadler-ssrr13,
author = {M. Schadler and J. Stueckler and S. Behnke},
booktitle = {Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title = {Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner},
year = {2013},
month = {oct},
pages = {1-6},
doi = {10.1109/SSRR.2013.6719373},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/SSRR_2013_Schadler_3D_Laser_Mapping_Tracking.pdf},
}
@inproceedings{mcelhone-ecmr13,
author = {M. McElhone and J. Stueckler and S. Behnke},
title = {Joint detection and pose tracking of multi-resolution surfel models in RGB-D},
booktitle = {Proc. of the European Conference on Mobile Robots (ECMR)},
pages = {131-137},
publisher = {IEEE},
year = {2013},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/ECMR13_McElhone.pdf},
}
@inproceedings{stueckler-ijcai13,
author = {J. Stueckler and S. Behnke},
title = {Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video},
booktitle = {Proc. of the 23rd International Joint Conference on Artificial Intelligence (IJCAI)},
publisher = {IJCAI/AAAI},
year = {2013},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/IJCAI13_Stueckler.pdf},
}
@inproceedings{stueckler-mfi12,
author = {J. Stueckler and S. Behnke},
title = {Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras},
booktitle = {Proc. of the IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
year = {2012},
month = {sep},
pages = {162-167},
doi = {10.1109/MFI.2012.6343050},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/MFI_2012_SLAM.pdf},
}
@inproceedings{stueckler-robotik12,
author = {J. Stueckler and S. Behnke},
title = {Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations},
booktitle = {Proc. of ROBOTIK},
publisher = {VDE-Verlag},
year = {2012},
keywords = {vslam},
url = {http://ais.uni-bonn.de/papers/robotik2012_stueckler_mrsreg.pdf},
}
@inproceedings{nieuwenhuisen-icra10,
author = {M. Nieuwenhuisen and J. Stueckler and S. Behnke},
title = {Improving indoor navigation of autonomous robots by an explicit representation of doors},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
year = {2010},
month = {may},
pages = {4895-4901},
doi = {10.1109/ROBOT.2010.5509689},
url = {http://ais.uni-bonn.de/papers/ICRA_2010_Nieuwenhuisen_Stueckler_Behnke.pdf},
keywords = {vslam},
}
@article{droeschel15-jfr-mod,
author = {D. Droeschel and M. Nieuwenhuisen and M. Beul and J. Stueckler and D. Holz and S. Behnke},
title = {Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles},
journal = {Journal of Field Robotics},
year = {2015},
keywords = {vslam},
}
@inproceedings{engel2015_stereo_lsdslam,
author = {J. Engel and J. Stueckler and D. Cremers},
title = {Large-Scale Direct SLAM with Stereo Cameras},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
year = {2015},
month = {sept},
keywords = {slam, stereo, semidense, reconstruction, vslam},
}
@inproceedings{caruso2015_omni_lsdslam,
author = {D. Caruso and J. Engel and D. Cremers},
title = {Large-Scale Direct SLAM for Omnidirectional Cameras},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
month = {sept},
year = {2015},
keywords = {slam, fisheye, semidense, reconstruction, vslam},
}
@inproceedings{usenko15_3drecon_stereolsdslam,
author = {V. Usenko and J. Engel and J. Stueckler and D. Cremers},
title = {Reconstructing Street-Scenes in Real-Time From a Driving Car},
booktitle = {Proc. of the Int. Conference on 3D Vision (3DV)},
month = {oct},
year = {2015},
keywords = {slam, stereo, semidense, reconstruction, vslam},
}
@inproceedings{kerl15iccv,
author = {C. Kerl and J. Stueckler and D. Cremers},
title = {Dense Continuous-Time Tracking and Mapping with Rolling Shutter {RGB-D} Cameras},
booktitle = {IEEE International Conference on Computer Vision (ICCV)},
year = {2015},
address = {Santiago, Chile},
keywords = {rgb-d,slam,rgbdslam,dense visual odometry, vo, vslam},
}
@inproceedings{usenko16icra,
title = {Direct Visual-Inertial Odometry with Stereo Cameras},
author = {V. Usenko and J. Engel and J. Stueckler and D. Cremers},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2016},
month = {May},
keywords = {visual inertial odometry, sensor fusion, vio, vslam},
}
@inproceedings{lingni16icra,
author = {L. Ma and C. Kerl and J. Stueckler and D. Cremers},
title = {CPA-SLAM: Consistent Plane-Model Alignment for Direct RGB-D SLAM},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2016},
month = {May},
keywords = {RGB-D SLAM, semantic segmentation, vslam},
}
@inproceedings{engel2016monodataset,
author = {J. Engel and V. Usenko and D. Cremers},
title = {A Photometrically Calibrated Benchmark For Monocular Visual Odometry},
booktitle = {arXiv:1607.02555},
arxiv = { arXiv:1607.02555},
year = {2016},
month = {July},
keywords = {mono-ds,dso,photometric-calibration, vo, vslam},
}
@inproceedings{engel2016dso,
author = {J. Engel and V. Koltun and D. Cremers},
title = { Direct Sparse Odometry},
booktitle = {arXiv:1607.02565},
arxiv = { arXiv:1607.02565},
year = {2016},
month = {July},
keywords = {mono-ds,dso, vslam},
}
@article{Engel-et-al-pami2018,
author = {J. Engel and V. Koltun and D. Cremers},
title = { Direct Sparse Odometry},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {2018},
month = {mar},
titleurl = {engel_et_al_pami2018.pdf},
keywords = {mono-ds,dso,directsparseodometry, vslam},
}
@inproceedings{dzitsiuk2017icra,
title = {De-noising, Stabilizing and Completing {3D} Reconstructions On-the-go using Plane Priors},
author = {M. Dzitsiuk and J. Sturm and R. Maier and L. Ma and D. Cremers},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2017},
month = {May},
keywords = {rgb-d,slam,rgbdslam,reconstruction,3d-reconstruction,fusion},
}
@inproceedings{stumberg16exploration,
author = {L. von Stumberg and V. Usenko and J. Engel and J. Stueckler and D. Cremers},
title = {From Monocular {SLAM} to Autonomous Drone Exploration},
booktitle = {European Conference on Mobile Robots (ECMR)},
arxiv = {arXiv:1609.07835},
year = {2017},
month = {September},
keywords = {vslam},
}
@inproceedings{BenderRSCK16,
author = {D. Bender and F. Rouatbi and M. Schikora and D. Cremers and W. Koch},
title = {Scaling the world of monocular {SLAM} with INS-measurements for {UAS}
navigation},
booktitle = {19th International Conference on Information Fusion, {FUSION} 2016,
Heidelberg, Germany, July 5-8, 2016},
pages = {1493--1500},
publisher = {{IEEE}},
year = {2016},
keywords = {vslam},
}
@article{yang18challenges,
author = {N. Yang and R. Wang and X. Gao and D. Cremers},
title = {Challenges in Monocular Visual Odometry: Photometric Calibration, Motion Bias and Rolling Shutter Effect},
journal = { In IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robots and Systems (IROS)},
volume = {3},
issue = {4},
pages = {2878--2885},
year = {2018},
month = {Oct},
doi = {10.1109/LRA.2018.2846813},
titleurl = {yang18challenges.pdf},
keywords = {Brightness;Calibration;Cameras;Feature extraction;Optimization;Robustness;Simultaneous localization and mapping;Localization;SLAM;performance evaluation and benchmarking;vslam},
}
@inproceedings{maier2017efficient,
title = {Efficient Online Surface Correction for Real-time Large-Scale {3D} Reconstruction},
author = {R. Maier and R. Schaller and D. Cremers},
booktitle = {British Machine Vision Conference (BMVC)},
year = {2017},
month = {September},
address = {London, United Kingdom},
keywords = {rgb-d,slam,rgbdslam,rgb-d benchmark,reconstruction,3d-reconstruction,fusion,vslam},
}
@inbook{maier2020rgbdvision,
title = {{RGB-D Vision}},
author = {R. Maier and D. Cremers},
chapter = {Encyclopedia of Robotics},
editor = {Ang, M.H. and Khatib, O. and Siciliano, B.},
year = {2020},
publisher = {Springer Berlin Heidelberg},
address = {Berlin, Heidelberg},
pages = {1--11},
isbn = {978-3-642-41610-1},
doi = {10.1007/978-3-642-41610-1_109-1},
url = {https://doi.org/10.1007/978-3-642-41610-1_109-1},
keywords = {rgbd, vslam},
}
@article{bergmann_RA-L_2018,
author = {P. Bergmann and R. Wang and D. Cremers},
title = {Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {3},
issue = {2},
pages = {627--634},
year = {2018},
month = {April},
titleurl = {bergmann17calibration.pdf},
keywords = {visual odometry, calibration, SLAM, direct, dso, photometric-calibration},
award = {ICRA'18 Best Vision Paper Award - Finalist},
}
@inproceedings{SconaJPFC18,
author = {R Scona and M Jaimez and YR. Petillot and M Fallon and D Cremers},
title = {StaticFusion: Background Reconstruction for Dense {RGB-D} {SLAM} in
Dynamic Environments},
booktitle = {2018 {IEEE} International Conference on Robotics and Automation, {ICRA}
2018, Brisbane, Australia, May 21-25, 2018},
pages = {1--9},
publisher = {{IEEE}},
year = {2018},
keywords = {vslam},
}
@inproceedings{Kasyanov2017_VISLAM,
title = {Keyframe-Based Visual-Inertial Online {SLAM} with Relocalization},
author = {A. Kasyanov and F. Engelmann and J. Stueckler and B. Leibe},
booktitle = {{IEEE/RSJ} Int. Conference on Intelligent Robots and Systems,
{IROS}},
year = {2017},
keywords = {vo, vio, vslam},
}
@inproceedings{stumberg18vidso,
author = {L. von Stumberg and V. Usenko and D. Cremers},
title = {Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2018},
month = {May},
keywords = {dso, vi-dso, vslam},
}
@inproceedings{schubert2018vidataset,
author = {D. Schubert and T. Goll and N. Demmel and V. Usenko and J. Stueckler and D. Cremers},
title = {The TUM VI Benchmark for Evaluating Visual-Inertial Odometry},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
arxiv = {arXiv:1804.06120},
year = {2018},
month = {October},
keywords = {tumvi, vo, vio ,vslam, dataset},
}
@inproceedings{schubert2019vidsors,
author = {D. Schubert and N. Demmel and L. von Stumberg and V. Usenko and D. Cremers},
title = {Rolling-Shutter Modelling for Visual-Inertial Odometry},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
year = {2019},
month = {November},
arxiv = {arXiv: 1911.01015},
keywords = {vidsors, vo, vio ,vslam},
}
@inproceedings{gao2018ldso,
author = {X. Gao and R. Wang and N. Demmel and D. Cremers},
title = {LDSO: Direct Sparse Odometry with Loop Closure},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
arxiv = {arXiv:1808.01111},
year = {2018},
month = {October},
keywords = {dso, ldso, vslam},
}
@article{matsuki2018_omnidso,
title = {Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras},
author = {H. Matsuki and L. von Stumberg and V. Usenko and J. Stueckler and D. Cremers},
journal = {IEEE Robotics and Automation Letters & Int. Conference on Intelligent Robots and Systems (IROS)},
booktitle = {Robotics and Automation Letters},
publisher = {IEEE},
year = {2018},
keywords = {dso, vslam},
}
@inproceedings{yang2018dvso,
author = {N. Yang and R. Wang and J. Stueckler and D. Cremers},
title = {Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry},
booktitle = {European Conference on Computer Vision (ECCV)},
year = {2018},
month = {September},
award = {Oral Presentation},
keywords = {dso, dvso, deep learning, monocular depth estimation, semi-supervised learning, slam, visual odometry, vslam},
}
@inproceedings{schubert2018drso,
author = {D. Schubert and N. Demmel and V. Usenko and J. Stueckler and D. Cremers},
title = {Direct Sparse Odometry With Rolling Shutter},
booktitle = {European Conference on Computer Vision (ECCV)},
year = {2018},
month = {September},
award = {Oral Presentation},
keywords = {dso, vslam},
}
@inproceedings{usenko18double-sphere,
author = {V. Usenko and N. Demmel and D. Cremers},
title = {The Double Sphere Camera Model},
booktitle = {Proc. of the Int. Conference on 3D Vision (3DV)},
year = {2018},
month = {September},
eprint = {1807.08957},
eprinttype = {arXiv},
eprintclass = {cs.CV},
keywords = {double-sphere, vslam},
}
@article{usenko19nfr,
author = {V. Usenko and N. Demmel and D. Schubert and J. Stueckler and D. Cremers},
title = {Visual-Inertial Mapping with Non-Linear Factor Recovery},
journal = {IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2020},
volume = {5},
number = {2},
pages = {422-429},
keywords = {nfr, vo, vio, vslam},
doi = {10.1109/LRA.2019.2961227},
}
@inproceedings{wang2020directshape,
author = {R. Wang and N. Yang and J. Stueckler and D. Cremers},
title = {DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2020},
keywords = {stereo, 3D reconstruction, semantic SLAM, 3D object detection, scene understanding, direct shape},
}
@article{gn-net-2020,
author = {L. von Stumberg and P. Wenzel and Q. Khan and D. Cremers},
title = {{GN-Net}: The Gauss-Newton Loss for Multi-Weather Relocalization},
journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
year = {2020},
volume = {5},
number = {2},
pages = {890-897},
keywords = {gn-net, vslam, deep learning},
}
@inbook{vi-dso-chapter,
author = {L. von Stumberg and V. Usenko and D. Cremers},
title = {A Review and Quantitative Evaluation of Direct Visual–Inertial Odometry},
editor = {M. Yang and B. Rosenhahn and V. Murino},
chapter = {Multimodal Scene Understanding},
publisher = {Academic Press},
pages = {159--198},
year = {2019},
doi = {10.1016/B978-0-12-817358-9.00013-5},
isbn = {978-0-12-817358-9},
keywords = {vo, vio, vslam},
}
@inbook{usenko2020_tumflyers,
author = {V. Usenko and L. von Stumberg and J. Stückler and D. Cremers},
editor = {F. Caccavale and C. Ott and B. Winkler and Z. Taylor},
title = {TUM Flyers: Vision---Based MAV Navigation for Systematic Inspection of Structures},
chapter = {Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users},
year = {2020},
publisher = {Springer International Publishing},
address = {Cham},
pages = {189--209},
isbn = {978-3-030-34507-5},
doi = {10.1007/978-3-030-34507-5_8},
keywords = {vo, vio, vslam},
}
@inproceedings{sommer19spline,
author = {C. Sommer and V. Usenko and D. Schubert and N. Demmel and D. Cremers},
title = {Efficient Derivative Computation for Cumulative B-Splines on Lie Groups},
eprint = {1911.08860},
eprinttype = {arXiv},
eprintclass = {cs.CV},
doi = {10.1109/CVPR42600.2020.01116},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2020},
award = {Oral Presentation},
keywords = {lie-spline, vslam, SLAM},
}
@inproceedings{yang20d3vo,
author = {N. Yang and L. von Stumberg and R. Wang and D. Cremers},
title = {D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2020},
eprint = {2003.01060},
eprinttype = {arXiv},
eprintclass = {cs.CV},
award = {Oral Presentation},
keywords = {dso,dvso, deep learning, monocular depth estimation, semi-supervised learning, slam, visual odometry,d3vo, vslam},
}
@inproceedings{steidle19visual,
author = {F. Steidle and W. Stürzl and R. Triebel},
title = {Visual-inertial sensor fusion with a bio-inspired polarization compass for navigation of MAVs},
booktitle = { 11th International Micro Air Vehicle Competition and Conference (IMAV)},
year = {2019},
keywords = {vslam},
}
@inproceedings{du2020dh3d,
author = {J. Du and R. Wang and D. Cremers},
title = {DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization},
booktitle = {European Conference on Computer Vision (ECCV)},
year = {2020},
award = {Spotlight Presentation},
keywords = {SLAM, localization, re-localization, 3D learning, dh3d, vslam},
}
@inproceedings{wenzel2020fourseasons,
title = {{4Seasons}: A Cross-Season Dataset for Multi-Weather {SLAM} in Autonomous Driving},
author = {P. Wenzel and R. Wang and N. Yang and Q. Cheng and Q. Khan and L. von Stumberg and N. Zeller and D. Cremers},
booktitle = {Proceedings of the German Conference on Pattern Recognition ({GCPR})},
year = {2020},
keywords = {vslam,4seasons, deep learning},
}
@inproceedings{demmel2020distributed,
author = {N Demmel and M Gao and E Laude and T Wu and D Cremers},
title = {Distributed Photometric Bundle Adjustment},
booktitle = {International Conference on 3D Vision (3DV)},
year = {2020},
award = {Oral Presentation},
keywords = {photometric-bundle-adjustment, slam, structure-from-motion, direct-method, distributed-optimization, mapping, splitting-method, penalty-method, loop-closure, odometry, consensus-optimization, dpba, vslam},
}
@inproceedings{lm-reloc-2020,
author = {L. von Stumberg and P. Wenzel and N. Yang and D. Cremers},
title = {LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization},
booktitle = {International Conference on 3D Vision (3DV)},
year = {2020},
keywords = {lm-reloc, slam, structure-from-motion, direct method, mapping, vslam, deep learning},
}
@inproceedings{wimbauer2020monorec,
title = {MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera},
author = {F. Wimbauer and N. Yang and L. von Stumberg and N. Zeller and D Cremers},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2021},
eprint = {2011.11814},
eprinttype = {arXiv},
eprintclass = {cs.CV},
keywords = {monorec, dvso, d3vo, mvs, deep learning, SLAM, vslam, reconstruction},
}
@inproceedings{gladkova2021tight,
author = {M Gladkova and R Wang and N Zeller and D Cremers},
title = {Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2021},
eprint = {2102.01191},
eprinttype = {arXiv},
eprintclass = {cs.CV},
keywords = {relocalization, localization, dso, ldso, tirdso, vslam},
}
@inproceedings{yan2021soe,
author = {Y. Xia and Y. Xu and S. Li and R. Wang and J. Du and D. Cremers and U. Stilla},
title = {SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Recognition},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2021},
award = {Oral Presentation},
keywords = {SLAM, localization, re-localization, 3D learning, dh3d, vslam, deep learning},
}
@inproceedings{demmel2021rootba,
author = {N Demmel and C Sommer and D Cremers and V Usenko},
title = {Square Root Bundle Adjustment for Large-Scale Reconstruction},
eprint = {2103.01843},
eprinttype = {arXiv},
eprintclass = {cs.CV},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2021},
keywords = {bundle adjustment, structure from motion, optimization, square root estimation, rootba, SLAM, vslam},
}
@inproceedings{demmel2021rootvo,
author = {N Demmel and D Schubert and C Sommer and D Cremers and V Usenko},
title = {Square Root Marginalization for Sliding-Window Bundle Adjustment},
eprint = {2109.02182},
eprinttype = {arXiv},
eprintclass = {cs.CV},
booktitle = {IEEE International Conference on Computer Vision (ICCV)},
year = {2021},
keywords = {odometry, VO, VIO, visual-inertial, bundle adjustment, optimization, square root estimation, rootba, rootvo, SLAM, vslam},
}
@inproceedings{wudenka2021monocular,
author = {MW Wudenka and MG Müller and N Demmel and A Wedler and R Triebel and D Cremers and W Stuerzl},
title = {Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions},
eprint = {2109.05509},
eprinttype = {arXiv},
eprintclass = {cs.RO},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
keywords = {odometry, VO, SLAM, vslam},
year = {2021},
}
@inproceedings{klenk2021tumvie,
author = {S Klenk and J Chui and N Demmel and D Cremers},
title = {TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset},
eprint = {2108.07329},
eprinttype = {arXiv},
eprintclass = {cs.CV},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
year = {2021},
keywords = {tumvie, event camera, dynamic vision sensor, SLAM, vslam},
}
@article{chui2021etslo,
title = {Event-Based Feature Tracking in Continuous Time with Sliding Window Optimization},
author = {J. Chui and S. Klenk and D. Cremers},
year = {2021},
journal = {arXiv preprint},
eprint = {2107.04536},
eprinttype = {arXiv},
primaryclass = {cs.CV},
keywords = {Dynamic vision sensor, Continuous-time feature tracking, Sliding window, B-splines, SE2 warping, SLAM, vslam},
}
@inproceedings{koestler2021tandem,
author = {L Koestler and N Yang and N Zeller and D Cremers},
title = {TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo},
booktitle = {Conference on Robot Learning (CoRL)},
year = {2021},
eprint = {2111.07418},
eprinttype = {arXiv},
award = {3DV'21 Best Demo Award},
keywords = {tandem, odometry, VO, SLAM, vslam, dense reconstruction, mvs},
}
@inproceedings{weber2021mcg,
author = {S Weber and N Demmel and D Cremers},
title = {Multidirectional Conjugate Gradients for Scalable Bundle Adjustment},
booktitle = {German Conference on Pattern Recognition (GCPR)},
year = {2021},
keywords = {large-scale reconstruction, bundle adjustment, preconditioned conjugate gradients, SLAM, vslam},
}
@article{stumberg22dmvio,
author = {L. von Stumberg and D. Cremers},
title = {{DM-VIO}: Delayed Marginalization Visual-Inertial Odometry},
journal = {{IEEE} Robotics and Automation Letters ({RA-L}) & International Conference on Robotics and Automation ({ICRA})},
year = {2022},
volume = {7},
number = {2},
pages = {1408-1415},
doi = {10.1109/LRA.2021.3140129},
keywords = {dm-vio, dso, vslam, SLAM, VIO, visual-inertial, vi-dso},
}
@inproceedings{muhle2022pnec,
author = {D Muhle and L Koestler and N Demmel and F Bernard and D Cremers},
title = {The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions},
eprint = {2204.02256},
eprinttype = {arXiv},
eprintclass = {cs.CV},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2022},
keywords = {pnec, vo, vslam},
}
@inproceedings{gladkova2022directtracker,
author = {M Gladkova and N Korobov and N Demmel and A Ošep and L Leal-Taixé and D Cremers},
title = {DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
year = {2022},
eprint = {2209.14965},
eprinttype = {arXiv},
eprintclass = {cs.CV},
keywords = {multi-object tracking, 3D object detection, slam, scene understanding},
}
@inproceedings{weber2023power,
title = {Power Bundle Adjustment for Large-Scale 3D Reconstruction},
author = {S Weber and N Demmel and T Chon Chan and D Cremers},
eprint = {2204.12834},
eprinttype = {arXiv},
eprintclass = {cs.CV},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
keywords = {bundle adjustment, optimization, SLAM, vslam},
titleurl = {weber2022psc.pdf},
year = {2023},
}
@inproceedings{wimbauer2023behind,
title = {Behind the Scenes: Density Fields for Single View Reconstruction},
author = {F Wimbauer and N Yang and C Rupprecht and D Cremers},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2023},
eprinttype = {arXiv},
eprint = {2301.07668},
eprintclass = {cs.CV},
keywords = {depth prediction, volumetric, nerf, mvs, deep learning, SLAM, vslam, reconstruction},
titleurl = {wimbauer2023behind.png},
}
@inproceedings{muhle2023learning,
title = {Learning Correspondence Uncertainty via Differentiable Nonlinear Least Squares},
author = {D Muhle and L Koestler and KM Jatavallabhula and D Cremers},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
eprint = {2305.09527},
eprinttype = {arXiv},
eprintclass = {cs.CV},
pages = {13102--13112},
year = {2023},
keywords = {pnec, vo, vslam, deep learning},
}