% generated by bibtexbrowser % % Encoding: UTF-8 @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}, award = {Oral Presentation}, } @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{weber2022psc, 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}, }