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Computer Vision Group
TUM Department of Informatics
Technical University of Munich

Technical University of Munich



David Schubert

PhD StudentTechnical University of Munich

Department of Informatics
Informatics 9
Boltzmannstrasse 3
85748 Garching

Tel: +49-89-289-17780
Fax: +49-89-289-17757
Office: 02.09.035
Mail: david.schubert@in.tum.de


My research focuses on visual odometry and SLAM (see publications). This includes a visual and a visual-inertial odometry system for rolling-shutter cameras, the latter of which can be seen in the video above.


Our visual-inertial stereo hardware setup has led to the publication of datasets which are well adopted by the research community. The two cameras of our setup can be operated in different shutter modes, which allows rolling/global-shutter comparisons.


  • WS16/17 Computer Vision I: Variational Methods (Tutorial)
  • WS17/18 Diskrete Strukturen (Tutor groups)
  • SS18 Practical Course: GPU Programming in Computer Vision
  • WS18/19 Diskrete Strukturen (Tutor groups)
  • SS19 Computer Vision II: Multiple View Geometry (Tutorial)
  • SS20 Seminar: The Evolution of Motion Estimation and Real-time 3D Reconstruction
  • SS20 Practical Course: Vision-based Navigation
  • WS20/21 Practical Course: Vision-based Navigation
  • SS21 Practical Course: Vision-based Navigation


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Journal Articles
[]Visual-Inertial Mapping with Non-Linear Factor Recovery (V. Usenko, N. Demmel, D. Schubert, J. Stueckler and D. Cremers), In IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robotics and Automation (ICRA), IEEE, volume 5, 2020. ([arxiv]) [bibtex] [doi] [pdf]
Conference and Workshop Papers
[]Square Root Marginalization for Sliding-Window Bundle Adjustment (N Demmel, D Schubert, C Sommer, D Cremers and V Usenko), In IEEE International Conference on Computer Vision (ICCV), 2021. ([project page]) [bibtex] [arXiv:2109.02182] [pdf]
[]Efficient Derivative Computation for Cumulative B-Splines on Lie Groups (C. Sommer, V. Usenko, D. Schubert, N. Demmel and D. Cremers), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.  [bibtex] [doi] [arXiv:1911.08860] [pdf]Oral Presentation
[]Rolling-Shutter Modelling for Visual-Inertial Odometry (D. Schubert, N. Demmel, L. von Stumberg, V. Usenko and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2019. ([arxiv]) [bibtex] [pdf]
[]Direct Sparse Odometry With Rolling Shutter (D. Schubert, N. Demmel, V. Usenko, J. Stueckler and D. Cremers), In European Conference on Computer Vision (ECCV), 2018. ([supplementary][arxiv]) [bibtex] [pdf]Oral Presentation
[]The TUM VI Benchmark for Evaluating Visual-Inertial Odometry (D. Schubert, T. Goll, N. Demmel, V. Usenko, J. Stueckler and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2018. ([arxiv]) [bibtex] [pdf]
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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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TANDEM (CoRL 2021) received the Best Demo Award at 3DV 2021! Congrats to Lukas Koestler, Nan Yang, and Niclas Zeller!


Watch Daniel Cremers' TED-X talk on making machines see the 3D world!


Bernt Schiele (Max Planck Institute for Informatics) will give a talk in the TUM AI lecture series on June 10th, 3pm! Livestream

French-German Machine Learning Symposium

French-German Machine Learning Symposium

The French-German Machine Learning Symposium aims to strengthen interactions and inspire collaborations between both countries. We invited some of the leading ML researchers from France and Germany to this two-day symposium to give a glimpse into their research, and engage in discussions on the future of machine learning and how to strengthen research collaborations in ML between France and Germany.

The list of speakers includes Yann LeCun, Cordelia Schmid, Jean-Bernard Lasserre, Bernhard Schölkopf, and many more! For the full program please visit the webpage.


Ron Kimmel (Technion - Israel Institute of Technology) will give a talk in the TUM AI lecture series on May 6th, 3pm! Livestream