• Publications
  • Influence
Robust odometry estimation for RGB-D cameras
TLDR
We derive a probabilistic formulation to directly estimate the camera motion from RGB-D images by minimizing the photometric error. Expand
  • 469
  • 83
  • PDF
Dense visual SLAM for RGB-D cameras
TLDR
We propose a dense visual SLAM method for RGB-D cameras that minimizes both the photometric and the depth error over all pixels. Expand
  • 613
  • 78
  • PDF
Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions
TLDR
The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. Expand
  • 178
  • 19
  • PDF
Fast odometry and scene flow from RGB-D cameras based on geometric clustering
TLDR
In this paper we propose an efficient solution to jointly estimate the camera motion and a piecewise-rigid scene flow from an RGB-D sequence. Expand
  • 56
  • 9
  • PDF
CPA-SLAM: Consistent plane-model alignment for direct RGB-D SLAM
TLDR
In this paper, we propose a real-time capable RGB-D SLAM system that consistently integrates frame-to-keyframe and frame- to-plane alignment. Expand
  • 81
  • 8
  • PDF
Large-Scale Multi-resolution Surface Reconstruction from RGB-D Sequences
TLDR
We propose a method to generate highly detailed, textured 3D models of large environments from RGB-D sequences from a state-of-the-art graphics card. Expand
  • 135
  • 4
  • PDF
Odometry from RGB-D Cameras for Autonomous Quadrocopters
TLDR
This master’s thesis presents a robust, dense visual odometry method applicable to the stabilization of quadrocopters. Expand
  • 17
  • 2
  • PDF
Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras
TLDR
We propose a dense continuous-time tracking and mapping method for RGB-D cameras. Expand
  • 72
  • 1
  • PDF
Multi-view deep learning for consistent semantic mapping with RGB-D cameras
TLDR
We propose and analyze several methods for enforcing multi-view consistency during the training of CNN models for semantic RGB-D image segmentation. Expand
  • 74
  • 1
  • PDF
Towards Illumination-Invariant 3D Reconstruction Using ToF RGB-D Cameras
TLDR
In this paper, we propose a direct and simple method to estimate the pure albedo of the texture, which allows us to remove illumination effects from IR and color images. Expand
  • 24
  • 1
  • PDF