Our paper (co-author for me) about the PatchMatch Stereo algorithm has been accepted for poster presentation at ICCV in Sydney
Our paper about efficient compositional approached for direct visual odometry, has been accepted for oral presentation at the IEEE IROS Conference in Tokyo, Japan
In this paper we give an evaluation of different methods for computing frame-to-frame motion estimates for a moving RGB-D sensor, by means of aligning two images using photometric error minimization. These kind of algorithms have recently shown to be very accurate and robust and therefore provide an attractive solution for robot ego-motion estimation and navigation. We demonstrate three different alignment strategies, namely the Forward-Compositional, the Inverse-Compositional and the Efficient Second-Order Minimization approach, in a general robust estimation framework. We further show how estimating global affine illumination changes, in general improves the performance of the algorithms. We compare our results with recently published work, considered as state-of-the art in this field, and show that our solutions are in general more precise and can perform in real-time on standard hardware.
More to come ...
Abstract— In this paper, we present a system for controlling a quadrocopter using both optical and inertial measurements. We show how to use external stereo camera measurements for visual servoing, by onboard fusion at high rates, only natural features provided by the vehicle and without any active marker. In our experiments, we show the accuracy and robustness of our system during indoor flights, as well as robustness to external flight disturbances.PDF
For more have a look at the IAFC project page
Implementation of ICondensation particle filter for 2D tracking
|09/2012 - now||Research Scientist within TU9/Sinogerman network project||involved sub-projects: Car2x and ECU|
|September 2013: School of Mobile Information Engineering, Sun Yat-sen University Zhuhai, China.||Teaching one week lab-course on programming an electric car using an Altera FPGA|
|December 2012: 2 Weeks visit at Institute of Microelectronics, Tsinghua University, Beijing||Kick-Starting cooperation in GP-GPU computation|
|03/2009 - 09/2012||IGSSE Scholarship for Ph.D. research in Image Aided Flight Control||Research in visual processing for quadcopter|
|03/2011 - 06/2011: Internship at Willow Garage||tight integration of intertial measurements with visual SLAM algorithms|
|10/2003 - 02/2009||Technische Universität München, Diploma in Informatics||passed with distinction|
CVT is an open-source library for various useful
algorithms in the area of computer vision. It mainly
served as a research platform for my colleague Philipp
Heise and myself. The implementations are tailored to
our research needs.
The library is available under MIT license and on github: CVT@github
The edvo package is the associated source code for the IROS paper on Efficient Direct Visual Odometry. A more detailed description can be found on the corresponding github page: edvo@github
The ROS package, developed during my internship at Willow-Garage imu_filter ROS page