PhD Student
Technical University of MunichSchool of Computation, Information and Technology
Informatics 9
Boltzmannstrasse 3
85748 Garching
Germany
Fax: +49-89-289-17757
Office:
Mail: stumberg@in.tum.de
My research interests are visual and visual-inertial SLAM, robotics, and 3D reconstruction. I like to apply both traditional methods and deep learning.
Using our novel Gauss-Newton loss we improve the robustness of direct methods against strong illumination changes and bad initializations. This allows us to accurately relocalize between different weathers. Project Page
In my Master thesis on direct visual-inertial odometry we demonstrate state-of-the-art performance on the EuRoC dataset. Project Page
In my Bachelor thesis I have used LSD-SLAM to explore an unknown environment with an autonomous drone.
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Book Chapters
2020
[] TUM Flyers: Vision—Based MAV Navigation for Systematic Inspection of Structures , Chapter in Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users (F. Caccavale, C. Ott, B. Winkler, Z. Taylor, eds.), Springer International Publishing, 2020.
2019
[] A Review and Quantitative Evaluation of Direct Visual–Inertial Odometry , Chapter in Multimodal Scene Understanding (M. Yang, B. Rosenhahn, V. Murino, eds.), Academic Press, 2019.
Journal Articles
2022
[] DM-VIO: Delayed Marginalization Visual-Inertial Odometry , In IEEE Robotics and Automation Letters (RA-L) & International Conference on Robotics and Automation (ICRA), volume 7, 2022. ([arXiv][video][project page][supplementary][code])
2020
[] GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization , In IEEE Robotics and Automation Letters (RA-L), volume 5, 2020. ([arXiv][video][project page][supplementary])
2018
[] Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras , In IEEE Robotics and Automation Letters & Int. Conference on Intelligent Robots and Systems (IROS), IEEE, 2018. ([arxiv])
Conference and Workshop Papers
2021
[] MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera , In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021. ([project page])
2020
[] LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization , In International Conference on 3D Vision (3DV), 2020. ([arXiv][project page][video][supplementary][poster])
[] 4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving , In Proceedings of the German Conference on Pattern Recognition (GCPR), 2020. ([project page][arXiv][video])
[] D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry , In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
Oral Presentation
2019
[] Rolling-Shutter Modelling for Visual-Inertial Odometry , In International Conference on Intelligent Robots and Systems (IROS), 2019. ([arxiv])
2018
[] Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization , In International Conference on Robotics and Automation (ICRA), 2018. ([supplementary][video][arxiv])
2017
[] Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer , In International Conference on Intelligent Robots and Systems (IROS), 2017. ([arxiv])
Best Paper Award - Finalist (link) [] From Monocular SLAM to Autonomous Drone Exploration , In European Conference on Mobile Robots (ECMR), 2017. ([arXiv])