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Home Members Dr. Vladyslav Usenko

Dr. Vladyslav Usenko

Postdoctoral ResearcherTechnische Universität München

Department of Computer Science
Informatik 9
Boltzmannstrasse 3
85748 Garching
Germany

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

Find me on Google Scholar, Gitlab, Github, Linkedin.

Research Interests

Visual-Inertial Odometry

We've created the Visual-Inertial Dataset, a novel dataset with a diverse set of sequences in different scenes for evaluating Visual-Inertial odometry.

This video shows "Direct Visual-Inertial Odometry with Stereo Cameras" presented at ICRA 2016



This video shows "Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization" presented at ICRA 2018, based on the Master's thesis of Lukas von Stumberg that I supervised.

Visual Navigation for MAVs

  • EuRoC Competition
  • 2018-02-28: Our team TUM Flyers has presented the final Field-Test demonstration of the EuRoC Project.

  • 2017-05-11: Our team TUM Flyers has been ranked 1st in Stage 2 and admitted to Stage 3 of the EuRoC Challenge 3. See this link for details.
  • 2015-05-13: Our team TUM Flyers has been admitted to Stage 2 of the EuRoC Challenge 3 with the top scoring proposal! See this link for details.
  • 2014-12-01: Our team TUM Flyers has won Stage 1 of the EuRoC Challenge 3 on Servicing and Inspection with MAVs in Industrial Use-Cases. See this link for details.
  • Real-Time Trajectory Replanning for MAVs using Uniform B-splines and 3D Circular Buffer

More information about the project is here.

  • Other Projects

This video shows an Autonomous Exploration with a Low-Cost Quadrocopter using Semi-Dense Monocular SLAM. This is Bachelor's Thesis of Lukas von Stumberg, which I co-supervised:



Publications


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Journal Articles
2018
[]Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras (H. Matsuki, L. von Stumberg, V. Usenko, J. Stueckler and D. Cremers), In IEEE Robotics and Automation Letters & Int. Conference on Intelligent Robots and Systems (IROS), IEEE, 2018. ([arxiv]) [bibtex] [pdf]
2015
[]Cloud-based collaborative 3D mapping in real-time with low-cost robots (G. Mohanarajah, V. Usenko, M. Singh, R. D'Andrea and M. Waibel), In IEEE Transactions on Automation Science and Engineering, IEEE, volume 12, 2015.  [bibtex] [pdf]
Conference and Workshop Papers
2019
[]Visual-Inertial Mapping with Non-Linear Factor Recovery (V. Usenko, N. Demmel, D. Schubert, J. Stueckler and D. Cremers), In arXiv:1904.06504, 2019.  [bibtex] [arXiv:1904.06504] [pdf]
2018
[]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
[]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]
[]Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization (L. von Stumberg, V. Usenko and D. Cremers), In International Conference on Robotics and Automation (ICRA), 2018. ([supplementary][video][arxiv]) [bibtex] [pdf]
2017
[]Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer (V. Usenko, L. von Stumberg, A. Pangercic and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2017. ([arxiv]) [bibtex] [pdf]Best Paper Award - Finalist (link)
[]From Monocular SLAM to Autonomous Drone Exploration (L. von Stumberg, V. Usenko, J. Engel, J. Stueckler and D. Cremers), In European Conference on Mobile Robots (ECMR), 2017.  [bibtex] [pdf]
2016
[]A Photometrically Calibrated Benchmark For Monocular Visual Odometry (J. Engel, V. Usenko and D. Cremers), In arXiv:1607.02555, 2016.  [bibtex] [pdf]
[]Direct Visual-Inertial Odometry with Stereo Cameras (V. Usenko, J. Engel, J. Stueckler and D. Cremers), In International Conference on Robotics and Automation (ICRA), 2016.  [bibtex] [pdf] [video]
2015
[]Reconstructing Street-Scenes in Real-Time From a Driving Car (V. Usenko, J. Engel, J. Stueckler and D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015.  [bibtex] [pdf]
2012
[]Furniture Classification using WWW CAD Models (V. Usenko, F. Seidel, Z. Marton, D. Pangercic and M. Beetz), In IROS'12 Workshop on Active Semantic Perception, 2012.  [bibtex] [pdf]
PhD Thesis
2019
[]Visual-Inertial Navigation for Autonomous Vehicles (Usenko, Vladyslav), PhD thesis, Technische Universität München, 2019. (library link) [bibtex] [pdf]
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Teaching

Winter Semester 2018/2019:

Summer Semester 2018:

Winter Semester 2017/2018:

Winter Semester 2016/2017:

Winter Semester 2015/2016:



Summer Semester 2015:



Summer Semester 2014:

Rechte Seite

Informatik IX
Chair for Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching

info@vision.in.tum.de