1 code implementation • CVPR 2022 • Christiane Sommer, Lu Sang, David Schubert, Daniel Cremers
We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations.
no code implementations • ICCV 2021 • Nikolaus Demmel, David Schubert, Christiane Sommer, Daniel Cremers, Vladyslav Usenko
The square root formulation pervades three major aspects of our optimization-based sliding-window estimator: for bundle adjustment we eliminate landmark variables with nullspace projection; to store the marginalization prior we employ a matrix square root of the Hessian; and when marginalizing old poses we avoid forming normal equations and update the square root prior directly with a specialized QR decomposition.
1 code implementation • CVPR 2021 • Nikolaus Demmel, Christiane Sommer, Daniel Cremers, Vladyslav Usenko
We propose a new formulation for the bundle adjustment problem which relies on nullspace marginalization of landmark variables by QR decomposition.
1 code implementation • 15 May 2020 • Christiane Sommer, Yumin Sun, Erik Bylow, Daniel Cremers
This paper tackles the problem of data abstraction in the context of 3D point sets.
2 code implementations • 21 Jan 2020 • Christiane Sommer, Yumin Sun, Leonidas Guibas, Daniel Cremers, Tolga Birdal
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes.
6 code implementations • CVPR 2020 • Christiane Sommer, Vladyslav Usenko, David Schubert, Nikolaus Demmel, Daniel Cremers
Continuous-time trajectory representation has recently gained popularity for tasks where the fusion of high-frame-rate sensors and multiple unsynchronized devices is required.