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Computer Vision Group
TUM Department of Informatics
Technical University of Munich

Technical University of Munich



Nikolaus Demmel

PhD StudentTechnical University of Munich

Department of Informatics
Informatics 9
Boltzmannstrasse 3
85748 Garching

Tel: +49-89-289-17781
Fax: +49-89-289-17757
Office: 02.09.057
Mail: demmeln@in.tum.de


Google Scholar Profile

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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 Bundle Adjustment for Large-Scale Reconstruction (N Demmel, C Sommer, D Cremers and V Usenko), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021. ([project page]) [bibtex] [arXiv:2103.01843] [pdf]
[]Distributed Photometric Bundle Adjustment (N Demmel, M Gao, E Laude, T Wu and D Cremers), In International Conference on 3D Vision (3DV), 2020. ([project page][code]) [bibtex] [pdf]Oral Presentation
[]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]
[]The Double Sphere Camera Model (V. Usenko, N. Demmel and D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2018. ([arxiv]) [bibtex] [arXiv:1807.08957] [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
[]LDSO: Direct Sparse Odometry with Loop Closure (X. Gao, R. Wang, N. Demmel and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2018. ([arxiv][video][code][project]) [bibtex]
[]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]
[]Interactive Multi-label Segmentation of RGB-D Images (J. Diebold, N. Demmel, C. Hazirbas, M. Möller and D. Cremers), In Scale Space and Variational Methods in Computer Vision (SSVM), 2015. ([code]) [bibtex] [doi] [pdf]
[]Becoming action-aware through reasoning about logged plan execution traces (L Mösenlechner, N Demmel and M Beetz), In International Conference on Intelligent Robots and Systems (IROS), 2010.  [bibtex] [pdf]
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Bachelor Theses / Master Theses / IDP / Guided Research

If you are interested in doing a Bachelor Thesis, Master Thesis, Interdisciplinary Project (IDP) or Guided Research in the field of SLAM, Visual Odometry, 3D Reconstruction, or Sensor fusion, feel free to contact me via email. Please include your recent transcript and a brief CV, so I know a bit about your background and courses taken. Depending on the research project, some experience with C++ and Computer Vision is usually required.


Student Projects

Previously completed student projects include:

  • Supervision: Erkam Uyanik, "Local and Global Mapping for Direct SLAM," Master Thesis, June 2021. report slides
  • Supervision (with David Schubert): Zhakshylyk Nurlanov, "Exploring SO(3) logarithmic map: degeneracies and derivatives," Student Project, May 2021. report slides
  • Supervision: Ahmed Agha, "Combining Direct and Indirect Features for Efficient Visual Inertial Odometry," Guided Research, April 2021. slides
  • Co-supervision (with Aljosa Osep): Nikita Korobov, "Direct Object Tracking," Guided Research, April 2021. report slides
  • External advisor (supervision: Markus Müller and Dr. Wolfgang Stürzl): Martin Wudenka, "Design and Implementation of an Odometry System for the ARDEA MAV Platform," Master Thesis, March 2021.
  • Co-supervision (with Aljosa Osep): Anselm Coogan, "BAMOT: Bundle Adjustment for Multiple-Object Tracking - a Stereo-based Approach," Master Thesis, March 2021. thesis slides code
  • Co-supervision (with Aljosa Osep): Maximilian Kempa, "Incorporating Large Vocabulary Object Detection and Tracking into Visual SLAM," Master Thesis, December 2020. thesis slides
  • Supervision: Erkam Uyanik, "Local and Global Mapping for Direct SLAM," Guided Research, November 2020. report slides
  • Supervision: Mariia Gladkova, "Feature-based Initialization for Monocular Direct Visual Odometry," Interdisciplinary Project, July 2020. report slides
  • Co-supervision (with Nan Yang, Lukas Köstler): Rémi Piau, "Toward Fast Deep Visual Place Recognition," Internship, August 2020. slides
  • Co-supervision (with Dr. Vladyslav Usenko): Tim Stricker, "Efficient Techniques for Accurate Visual Place Recognition," Master Thesis, June 2020. thesis slides
  • Supervision: Simon Klenk, "Photometric Bundle Adjustment for Globally Consistent Mapping," Master Thesis, June 2020. thesis slides
  • External advisor (supervision: Dr. Vladyslav Usenko): Pak Hong Chui, "Visual-Inertial Simultaneous Localization and Mapping with Multiple Cameras," Master Thesis, April 2020. thesis slides
  • Co-supervision (with Emanuel Laude): Florian Hofherr, "Joint Optimization of Pose And Depth Using a Prox-Linear Approach," Master Thesis, December 2019. thesis slides
  • Co-supervision (with Jens Harnisch, Infineon Technologies AG): Abdul Hannan Khan, "Face Recognition with a 3D Camera On an Embedded Processor," Master Thesis, November 2019. thesis slides
  • Supervision (with Tim Mehling): Pablo Rodríguez Palafox, "Local Tracking and Mapping for Direct Visual SLAM," Master Thesis, October 2019. thesis slides
  • Co-supervision (with Dr. Ulrich Klank, Magazino GmbH): Kanstantsin Tkachuk, "3D Scene Reconstruction for 2D Object Recognition," Bachelor Thesis, September 2019. thesis slides
  • Supervision (with Prof. Dr. Jörg Stückler): Anton Troynikov, "Photometric Odometry for Dynamic Objects," Master Thesis, April 2019. thesis slides Blog
  • Supervision: Maurice Hermwille, "Vignette Calibration for Fisheye Lenses," Master Thesis, September 2018. thesis slides
  • Co-Supervision (with Dr. Tao Wu, Emanuel Laude): Zhongnan Qu, "Efficient Optimization for Robust Bundle Adjustment," Master Thesis, March 2018. thesis slides

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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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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


4Seasons Dataset: We have released a novel dataset for benchmarking multi-weather SLAM in autonomous driving.


Hao Li (Pinscreen) will give a talk in the TUM AI lecture series on April 22nd, 8pm! Livestream