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@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},
}
@article{mohanarajah2015cloud,
title = {Cloud-based collaborative 3D mapping in real-time with low-cost robots},
author = {G. Mohanarajah and V. Usenko and M. Singh and R. D'Andrea and M. Waibel},
journal = {IEEE Transactions on Automation Science and Engineering},
volume = {12},
number = {2},
pages = {423--431},
year = {2015},
publisher = {IEEE},
}
@inproceedings{usenko12furniture,
title = {Furniture Classification using WWW CAD Models},
author = {V. Usenko and F. Seidel and Z. Marton and D. Pangercic and M. Beetz},
booktitle = {IROS'12 Workshop on Active Semantic Perception},
year = {2012},
}
@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{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{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{usenko17replanning,
author = {V. Usenko and L. von Stumberg and A. Pangercic and D. Cremers},
title = {Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
month = {Sep},
award = {Best Paper Award - Finalist ({link})},
keywords = {trajectory, replanning, MAV},
}
@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},
}
@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{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},
}
@phdthesis{usenko_phd,
author = {V Usenko},
title = {Visual-Inertial Navigation for Autonomous Vehicles},
type = {Dissertation},
school = {Technische Universität München},
address = {München},
year = {2019},
}
@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},
}
@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{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},
}