GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization (bibtex)

by L. von Stumberg, P. Wenzel, Q. Khan and D. Cremers

Reference:

GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization (L. von Stumberg, P. Wenzel, Q. Khan and D. Cremers), In IEEE Robotics and Automation Letters (RA-L), volume 5, 2020. ([arXiv][video][project page][supplementary])

Bibtex Entry:

@article{gn-net-2020,
 author = {L. von Stumberg and P. Wenzel and Q. Khan and D. Cremers},
 title = {{GN-Net}: The Gauss-Newton Loss for Multi-Weather Relocalization},
 journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
 year = {2020},
 volume = {5},
 number = {2},
 pages = {890-897},
 keywords = {gn-net, vslam, deep learning},
}

by L. von Stumberg, P. Wenzel, Q. Khan and D. Cremers

Reference:

Bibtex Entry:

@article{gn-net-2020,
 author = {L. von Stumberg and P. Wenzel and Q. Khan and D. Cremers},
 title = {{GN-Net}: The Gauss-Newton Loss for Multi-Weather Relocalization},
 journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
 year = {2020},
 volume = {5},
 number = {2},
 pages = {890-897},
 keywords = {gn-net, vslam, deep learning},
}

Research Interests
Selected Projects

Lukas von Stumberg

PhD Student

Technical University of Munich

School of Computation, Information and Technology
Informatics 9
Boltzmannstrasse 3
85748 Garching
Germany

Fax: +49-89-289-17757
Office:
Mail: stumberg@in.tum.de

Find me on Google Scholar Linkedin

Research Interests

My research interests are visual and visual-inertial SLAM, robotics, and 3D reconstruction. I like to apply both traditional methods and deep learning.

Selected Projects

GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization

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

VI-DSO: Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization

In my Master thesis on direct visual-inertial odometry we demonstrate state-of-the-art performance on the EuRoC dataset. Project Page

From Monocular SLAM to Autonomous Drone Exploration

In my Bachelor thesis I have used LSD-SLAM to explore an unknown environment with an autonomous drone.

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