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RGB-D Vision

Contact: Jörg Stückler

In the past year, novel camera systems like the Microsoft Kinect or the Asus Xtion sensor that provide both color and dense depth images became readily available. There are great expectations that such systems will lead to a boost of new applications in the field of 3D perception which is particularly relevant for robots operating in unstructured environments and under real-world conditions.

We are specifically interested in using RGB-D sensors for 3D mapping and localization, path planning, navigation, object recognition and people tracking.

See also our research on RGB-D SLAM.

If you are interested in a bachelor/master thesis project in this area, please contact us.

Related publications

Sort Order:  by type by year
Conference and Workshop Papers Masters Thesis 
Conference and Workshop Papers
2016
CPA-SLAM: Consistent Plane-Model Alignment for Direct RGB-D SLAM (L. Ma, C. Kerl, J. Stueckler, D. Cremers), In Int. Conf. on Robotics and Automation, 2016. (to appear) [bib] [pdf]
2015
Model-Based Tracking at 300Hz using Raw Time-of-Flight Observations (J. Stühmer, S. Nowozin, A. Fitzgibbon, R. Szeliski, T. Perry, S. Acharya, D. Cremers, J. Shotton), In IEEE International Conference on Computer Vision (ICCV), 2015. ([video]) [bib] [pdf]
Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras (C. Kerl, J. Stueckler, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2015. ([video][supplementary][datasets]) [bib] [pdf]
Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images (M. Jaimez, M. Souiai, J. Stueckler, J. Gonzalez-Jimenez, D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015. ([video]) [bib] [pdf]
Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures (R. Maier, J. Stueckler, D. Cremers), In International Conference on 3D Vision (3DV), 2015. [bib] [pdf]
A Primal-Dual Framework for Real-Time Dense RGB-D Scene Flow (M. Jaimez, M. Souiai, J. Gonzalez-Jimenez, D. Cremers), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. ([video]) [bib] [pdf]
2014
Towards Illumination-invariant 3D Reconstruction using ToF RGB-D Cameras (C. Kerl, M. Souiai, J. Sturm, D. Cremers), In International Conference on 3D Vision (3DV), 2014. ([supplementary]) [bib] [pdf]
Submap-based Bundle Adjustment for 3D Reconstruction from RGB-D Data (R. Maier, J. Sturm, D. Cremers), In German Conference on Pattern Recognition (GCPR), 2014. ([slides]) [bib] [pdf]
Semi-Dense Visual Odometry for AR on a Smartphone (T. Schöps, J. Engel, D. Cremers), In International Symposium on Mixed and Augmented Reality, 2014. [bib] [pdf] [video]Best Short Paper Award
LSD-SLAM: Large-Scale Direct Monocular SLAM (J. Engel, T. Schöps, D. Cremers), In European Conference on Computer Vision (ECCV), 2014. [bib] [pdf] [video]Oral Presentation
Volumetric 3D Mapping in Real-Time on a CPU (F. Steinbruecker, J. Sturm, D. Cremers), In Int. Conf. on Robotics and Automation, 2014. [bib] [pdf]
2013
Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences (F. Steinbruecker, C. Kerl, J. Sturm, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2013. [bib] [pdf]
Semi-Dense Visual Odometry for a Monocular Camera (J. Engel, J. Sturm, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2013. [bib] [pdf] [video]
CopyMe3D: Scanning and Printing Persons in 3D (J. Sturm, E. Bylow, F. Kahl, D. Cremers), In German Conference on Pattern Recognition (GCPR), 2013. [bib] [pdf]
Dense Tracking and Mapping with a Quadrocopter (J. Sturm, E. Bylow, F. Kahl, D. Cremers), In Unmanned Aerial Vehicle in Geomatics (UAV-g), 2013. [bib] [pdf]
Scale-Aware Object Tracking with Convex Shape Constraints on RGB-D Images (M. Klodt, J. Sturm, D. Cremers), In German Conference on Pattern Recognition (GCPR), 2013. [bib] [pdf]
FollowMe: Person Following and Gesture Recognition with a Quadrocopter (T. Naseer, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013. [bib] [pdf]
Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013. [bib] [pdf]
Direct Camera Pose Tracking and Mapping With Signed Distance Functions (E. Bylow, J. Sturm, C. Kerl, F. Kahl, D. Cremers), In Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS), 2013. [bib] [pdf]
Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions (E. Bylow, J. Sturm, C. Kerl, F. Kahl, D. Cremers), In Robotics: Science and Systems Conference (RSS), 2013. [bib] [pdf]
Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Int. Conf. on Robotics and Automation, 2013. [bib] [pdf]Best Vision Paper Award - Finalist
2012
Evaluating Egomotion and Structure-from-Motion Approaches Using the TUM RGB-D Benchmark (J. Sturm, W. Burgard, D. Cremers), In Proc. of the Workshop on Color-Depth Camera Fusion in Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012. [bib] [pdf]
A Benchmark for the Evaluation of RGB-D SLAM Systems (J. Sturm, N. Engelhard, F. Endres, W. Burgard, D. Cremers), In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012. [bib] [pdf]
Real-Time Human Motion Tracking using Multiple Depth Cameras (L. Zhang, J. Sturm, D. Cremers, D. Lee), In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012. [bib] [pdf]
An Evaluation of the RGB-D SLAM System (F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, W. Burgard), In Int. Conf. on Robotics and Automation, 2012. [bib] [pdf]
2011
Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011. [bib] [pdf]
Towards a benchmark for RGB-D SLAM evaluation (J. Sturm, S. Magnenat, N. Engelhard, F. Pomerleau, F. Colas, W. Burgard, D. Cremers, R. Siegwart), In Proc. of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf. (RSS), 2011. [bib] [pdf] [pdf]
Real-time 3D visual SLAM with a hand-held camera (N. Engelhard, F. Endres, J. Hess, J. Sturm, W. Burgard), In Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, 2011. [bib] [pdf] [video] [video] [video]
2010
Parallel Generalized Thresholding Scheme for Live Dense Geometry from a Handheld Camera (J. Stühmer, S. Gumhold, D. Cremers), In ECCV Workshop on Computer Vision on GPUs (CVGPU), 2010. [bib] [pdf]
Real-Time Dense Geometry from a Handheld Camera (J. Stühmer, S. Gumhold, D. Cremers), In Pattern Recognition (Proc. DAGM), 2010. [bib] [pdf]
Conference and Workshop Papers Masters Thesis 
Masters Thesis
2013
Out-of-Core Bundle Adjustment for 3D Workpiece Reconstruction (R. Maier), Master's thesis, Technische Universität München, 2013. [bib] [pdf]
2012
Odometry from RGB-D Cameras for Autonomous Quadrocopters (C. Kerl), Master's thesis, Technical University Munich, 2012. [bib] [pdf]
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Last edited 29.08.2015 11:51 by Jörg Stückler