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Faculty of Informatics
Technical University of Munich

Technical University of Munich

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Home Members Vladyslav Usenko

Vladyslav Usenko

Msc.

Technische 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,Github

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
  • 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

Journal Articles
2018
Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras (H. Matsuki, L. von Stumberg, V. Usenko, J. Stueckler, D. Cremers), In IEEE Robotics and Automation Letters, IEEE, 2018.(to appear) [bib]
2015
Cloud-based collaborative 3D mapping in real-time with low-cost robots (G. Mohanarajah, V. Usenko, M. Singh, R. D'Andrea, M. Waibel), In IEEE Transactions on Automation Science and Engineering, IEEE, volume 12, 2015. [bib] [pdf]
Conference and Workshop Papers
2018
The TUM VI Benchmark for Evaluating Visual-Inertial Odometry (D. Schubert, T. Goll, N. Demmel, V. Usenko, J. Stueckler, D. Cremers), In arXiv:1804.06120, 2018.([arxiv]) [bib]
Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization (L. von Stumberg, V. Usenko, D. Cremers), In International Conference on Robotics and Automation (ICRA), 2018.(to appear, [supplementary][video][arxiv]) [bib] [pdf]
2017
Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer (V. Usenko, L. von Stumberg, A. Pangercic, D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2017.([arxiv]) [bib] [pdf]Best Paper Award - Finalist (link)
From Monocular SLAM to Autonomous Drone Exploration (L. von Stumberg, V. Usenko, J. Engel, J. Stueckler, D. Cremers), In European Conference on Mobile Robots (ECMR), 2017. [bib] [pdf]
2016
A Photometrically Calibrated Benchmark For Monocular Visual Odometry (J. Engel, V. Usenko, D. Cremers), In arXiv:1607.02555, 2016. [bib] [pdf]
Direct Visual-Inertial Odometry with Stereo Cameras (V. Usenko, J. Engel, J. Stueckler, D. Cremers), In International Conference on Robotics and Automation (ICRA), 2016. [bib] [pdf] [video]
2015
Reconstructing Street-Scenes in Real-Time From a Driving Car (V. Usenko, J. Engel, J. Stueckler, D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015. [bib] [pdf]
2012
Furniture Classification using WWW CAD Models (V. Usenko, F. Seidel, Z. Marton, D. Pangercic, M. Beetz), In IROS'12 Workshop on Active Semantic Perception, 2012. [bib] [pdf]
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Teaching

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