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Real-Time Dense Mapping for Self-Driving Vehicles using Fisheye Cameras
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Towards Robust Visual Odometry with a Multi-Camera System
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)We present a visual odometry (VO) algorithm for a multi-camera system and robust operation in challenging environments. Our algorithm consists of a pose tracker and a local mapper. The tracker estimates the current pose by minimizing photometric errors between the most recent keyframe and the current frame. The mapper initializes the depths of all sampled feature points using plane-sweeping stereo. To reduce pose drift, a sliding window ...Conference Paper -
Direct Visual Odometry for a Fisheye-Stereo Camera
(2017)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Automated valet parking and charging for e-mobility
(2016)IEEE Intelligent Vehicles Symposium, ProceedingsConference Paper -
Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments
(2015)2015 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Real-Time 3D Navigation for Autonomous Vision-Guided MAVs
(2015)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle
(2014)Robotics: Science and Systems XConference Paper -
Real-time direct dense matching on fisheye images using plane-sweeping stereo
(2014)2014 2nd International Conference on 3D VisionConference Paper -
Infrastructure-based calibration of a multi-camera rig
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of calibration parameters is critical for the safe operation of automated systems. However, most existing calibration methods for multisensor systems are computationally expensive, use installations of known fiducial ...Conference Paper