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TUM School of Computation, Information and Technology
Technical University of Munich

Technical University of Munich

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

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research:vslam [2020/07/11 04:33]
Rui Wang
research:vslam [2020/10/15 15:07] (current)
schubdav
Line 1: Line 1:
 +~~META:
 +tag=vslam
 +~~
 ====== Visual SLAM ====== ====== Visual SLAM ======
-**Contact:** [[members:cremers|Prof. Dr. Daniel Cremers]] 
  
 +In **S**imultaneous **L**ocalization **A**nd **M**apping, we track the pose of the sensor while creating a map of the environment. In particular, our group has a strong focus on direct methods, where, contrary to the classical pipeline of feature extraction and matching, we directly optimize intensity errors.
  
-We pursue direct SLAM techniques that instead of using keypointsdirectly operate on image intensities both for tracking and mapping.+Our experience includes various sensor modalitiessuch as monocular, stereo and RGB-D cameras, but also visual-inertial setups. Besides our research for new methods, we provide public datasets for evaluation.
  
-<html><center></html>{{:research:lsdslam:directvskp.png?500|}}<html></center><br></html>+If you are interested in the wider area of SLAM, chances are that our interests overlap with yoursWe would be happy to hear from you!
  
-===== Direct SLAM for Monocular and Stereo Cameras =====+<html><video width="100%" autoplay loop muted controls poster="/_media/research/vslam/thumb.jpg"> 
 +<source src="/_media/research/vslam/demo_slam_h264.mp4" type="video/mp4" /> 
 +</video></html>
  
-**[[research:vslam:lsdslam|LSD-SLAM]]** is a direct SLAM technique for monocular and stereo cameras. The camera is tracked using **direct image alignment**, while geometry is estimated in the form of **semi-dense depth maps**, obtained by **filtering** over many pixelwise stereo comparisons. We then build a **Sim(3) pose-graph of keyframes**, which allows to build scale-drift corrected, large-scale maps including loop-closures.+==== Contact ====
  
-<html><center><iframe width="640" height="360" src="//www.youtube.com/embed/GnuQzP3gty4" frameborder="0" allowfullscreen></iframe></center></html> +<memberlist> 
- +<dokuwiki> 
- +<filter> 
-===== Direct SLAM for RGB-D Cameras ===== +<grps>^vslam$</grps> 
- +</filter
-For **[[research:rgb-d_sensors_kinect|SLAM with RGB-D cameras]]** (RGB-D SLAM) we developed a method that also tracks the camera using **direct image alignment**. We optimize a **SE(3) pose-graph of keyframes** to find a globally consistent trajectory and alignment of images.  +<user>cremers</user> 
- +</dokuwiki
-<html> +</memberlist>
-<iframe width="560" height="315" src="//www.youtube-nocookie.com/embed/jNbYcw_dmcQ" frameborder="0" allowfullscreen></iframe+
-</html>+
  
 +==== Related publications ====
 +<bibtex>
 +<keywords>slam</keywords>
 +<bytype>-1</bytype>
 +</bibtex>

Rechte Seite

Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:

News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More