In this paper, we present a complete pipeline for 3D semantic mapping solely based on a stereo camera system. The pipeline comprises a direct sparse visual odometry front-end as well as a back-end for global optimization including GNSS integration, …
In this paper, we propose MonoRec, a semi-supervised monocular dense reconstruction architecture that predicts depth maps from a single moving camera in dynamic environments. MonoRec is based on a multi-view stereo setting which encodes the …
In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely on …
In this paper we present a sensor fusion framework for the detection and classification of objects in autonomous driving applications. The presented method uses a state-of-the-art convolutional neural network (CNN) to detect and classify object from …
This paper presents a method to calculate a totally focussed colour image from recordings of a plenoptic camera. The three colour channels have to be extracted from the raw image. The virtual depth is estimated analyzing the disparities of image …
We propose a novel direct visual odometry algorithm formicro-lens-array-based light field cameras. The algorithm calculates adetailed, semi-dense 3D point cloud of its environment. Thisis achievedby establishing probabilistic depth hypotheses based …
In this paper we present a new calibration approach for focused plenoptic cameras. We derive a new mathematical projection model of afocused plenoptic camera which considers lateral as well as depth distortion. Therefore, we derive a new depth …