Christian Kerl

Publications
Influence

Robust odometry estimation for RGB-D cameras

Christian Kerl, J. Sturm, D. Cremers
Computer Science
IEEE International Conference on Robotics and…
6 May 2013

We derive a probabilistic formulation to directly estimate the camera motion from RGB-D images by minimizing the photometric error. Expand

Dense visual SLAM for RGB-D cameras

Christian Kerl, J. Sturm, D. Cremers
Computer Science
IEEE/RSJ International Conference on Intelligent…
1 November 2013

We propose a dense visual SLAM method for RGB-D cameras that minimizes both the photometric and the depth error over all pixels. Expand

Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions

E. Bylow, J. Sturm, Christian Kerl, F. Kahl, D. Cremers
Computer Science
Robotics: Science and Systems
23 June 2013

The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. Expand

Fast odometry and scene flow from RGB-D cameras based on geometric clustering

Mariano Jaimez, Christian Kerl, J. González, D. Cremers
Computer Science
IEEE International Conference on Robotics and…
1 May 2017

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

CPA-SLAM: Consistent plane-model alignment for direct RGB-D SLAM

Lingni Ma, Christian Kerl, J. Stückler, D. Cremers
Computer Science
IEEE International Conference on Robotics and…
16 May 2016

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

Large-Scale Multi-resolution Surface Reconstruction from RGB-D Sequences

Frank Steinbrücker, Christian Kerl, D. Cremers
Computer Science
IEEE International Conference on Computer Vision
1 December 2013

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

Odometry from RGB-D Cameras for Autonomous Quadrocopters

Christian Kerl
Computer Science
2012

This master’s thesis presents a robust, dense visual odometry method applicable to the stabilization of quadrocopters. Expand

Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras

Christian Kerl, J. Stückler, D. Cremers
Mathematics, Computer Science
IEEE International Conference on Computer Vision…
7 December 2015

We propose a dense continuous-time tracking and mapping method for RGB-D cameras. Expand

Multi-view deep learning for consistent semantic mapping with RGB-D cameras

Lingni Ma, J. Stückler, Christian Kerl, D. Cremers
Computer Science
IEEE/RSJ International Conference on Intelligent…
26 March 2017

We propose and analyze several methods for enforcing multi-view consistency during the training of CNN models for semantic RGB-D image segmentation. Expand

Towards Illumination-Invariant 3D Reconstruction Using ToF RGB-D Cameras

Christian Kerl, Mohamed Souiai, J. Sturm, D. Cremers
Computer Science
2nd International Conference on 3D Vision
8 December 2014

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

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