Research

Visual-Inertial Odometry

Visual-Inertial Dataset

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

Visual-Inertial Mapping with Non-Linear Factor Recovery

This video shows Visual-Inertial Mapping with Non-Linear Factor Recovery

Direct Visual-Inertial Odometry with Stereo Cameras

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

Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization

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 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 for details.

Real-Time Trajectory Replanning for MAVs using Uniform B-splines and 3D Circular

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: