Direct methods for visual odometry (VO) have gained popularity for their capability to exploit
information from all intensity gradients in the image. However, low computational speed as …

We propose a semi-direct monocular visual odometry algorithm that is precise, robust, and
faster than current state-of-the-art methods. The semi-direct approach eliminates the need of …

This paper is about long-term navigation in environments whose appearance changes over
time, suddenly or gradually. We describe, implement and validate an approach which allows …

Large scale exploration of the environment requires a constant time estimation engine.
Bundle adjustment or pose relaxation do not fulfil these requirements as the number of …

Disclosed is a concept for computer-assisted procedures of surgery and diagnosis that
target rigid, non-deformable anatomical parts such as bone, tissue, or teeth. The disclosure …

This paper is about long-term navigation in environments whose appearance changes over
time-suddenly or gradually. We describe, implement and validate an approach which allows …

In this paper we describe a relative approach to simultaneous localization and mapping,
based on the insight that a continuous relative representation can make the problem …

In this paper we describe a body of work aimed at extending the reach of mobile navigation
and mapping. We describe how running topological and metric mapping and pose …

Continuous, real-time mapping of an environment using a camera requires a constanttime
estimation engine. This rules out optimal global solving such as bundle adjustment. In this …

In this article, we propose a novel optimization-based tightly coupled Direct Visual-Inertial
Odometry (DVIO), which fuses the visual and inertial measurements to provide real-time full …