DM-VIO: Delayed Marginalization Visual-Inertial Odometry (bibtex)

by L. von Stumberg and D. Cremers

Reference:

DM-VIO: Delayed Marginalization Visual-Inertial Odometry (L. von Stumberg and D. Cremers), In IEEE Robotics and Automation Letters (RA-L) & International Conference on Robotics and Automation (ICRA), volume 7, 2022. ([arXiv][video][project page][supplementary][code])

Bibtex Entry:

@article{stumberg22dmvio,
 author = {L. von Stumberg and D. Cremers},
 title = {{DM-VIO}: Delayed Marginalization Visual-Inertial Odometry},
 journal = {{IEEE} Robotics and Automation Letters ({RA-L}) & International Conference on Robotics and Automation ({ICRA})},
 year = {2022},
 volume = {7},
 number = {2},
 pages = {1408-1415},
 doi = {10.1109/LRA.2021.3140129},
 keywords = {dm-vio, dso, vslam, SLAM, VIO, visual-inertial, vi-dso},
}

by L. von Stumberg and D. Cremers

Reference:

Bibtex Entry:

@article{stumberg22dmvio,
 author = {L. von Stumberg and D. Cremers},
 title = {{DM-VIO}: Delayed Marginalization Visual-Inertial Odometry},
 journal = {{IEEE} Robotics and Automation Letters ({RA-L}) & International Conference on Robotics and Automation ({ICRA})},
 year = {2022},
 volume = {7},
 number = {2},
 pages = {1408-1415},
 doi = {10.1109/LRA.2021.3140129},
 keywords = {dm-vio, dso, vslam, SLAM, VIO, visual-inertial, vi-dso},
}

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.

Table of Contents