Publications

1
2
3
4
5
6
7
8
9

@inproceedings{demmel2021rootvo, 
	author = {Nikolaus Demmel and David Schubert and Christiane Sommer and Daniel Cremers and Vladyslav Usenko}, 
	title = {Square Root Marginalization for Sliding-Window Bundle Adjustment}, 
	booktitle = {Proc. of the IEEE International Conf. on Computer Vision (ICCV)}, 
	year = {2021}, 
	pages = {13240-13248}, 
	eprint = {https://arxiv.org/abs/2109.02182}, 
	doi = {10.1109/ICCV48922.2021.01301}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{demmel2021rootba, 
	author = {Nikolaus Demmel and Christiane Sommer and Daniel Cremers and Vladyslav Usenko}, 
	title = {Square Root Bundle Adjustment for Large-Scale Reconstruction}, 
	booktitle = {Proc. of the IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2021}, 
	pages = {11718-11727}, 
	eprint = {https://arxiv.org/abs/2103.01843}, 
	doi = {10.1109/CVPR46437.2021.01155}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{sommer2020spline, 
	author = {Christiane Sommer and Vladyslav Usenko and David Schubert and Nikolaus Demmel and Daniel Cremers}, 
	title = {Efficient Derivative Computation for Cumulative B-Splines on Lie Groups}, 
	booktitle = {Proc. of the IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2020}, 
	pages = {11145-11153}, 
	eprint = {https://arxiv.org/abs/1911.08860}, 
	doi = {10.1109/CVPR42600.2020.01116}, 
}

1
2
3
4
5
6
7
8
9

@article{usenko2020nfr, 
	author = {Vladyslav Usenko and Nikolaus Demmel and David Schubert and Jörg Stückler and Daniel Cremers}, 
	title = {Visual-Inertial Mapping With Non-Linear Factor Recovery}, 
	journal = {IEEE Robotics and Automation Letters (RA-L)}, 
	year = {2020}, 
	pages = {422–429}, 
	eprint = {https://arxiv.org/abs/1904.06504}, 
	doi = {10.1109/lra.2019.2961227}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{schubert2019vidsors, 
	author = {David Schubert and Nikolaus Demmel and Lukas von Stumberg and Vladyslav Usenko and Daniel Cremers}, 
	title = {Rolling-Shutter Modelling for Direct Visual-Inertial Odometry}, 
	booktitle = {Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS)}, 
	year = {2019}, 
	eprint = {https://arxiv.org/abs/1911.01015}, 
	isbn = {9781728140049}, 
	doi = {10.1109/iros40897.2019.8968539}, 
}

1
2
3
4
5
6
7
8
9

@article{matsuki2018omnidso, 
	author = {Hidenobu Matsuki and Lukas von Stumberg and Vladyslav Usenko and Jörg Stückler and Daniel Cremers}, 
	title = {Omnidirectional DSO: Direct Sparse Odometry With Fisheye Cameras}, 
	journal = {IEEE Robotics and Automation Letters (RA-L)}, 
	year = {2018}, 
	pages = {3693–3700}, 
	eprint = {https://arxiv.org/abs/1808.02775}, 
	doi = {10.1109/lra.2018.2855443}, 
}

 1
 2
 3
 4
 5
 6
 7
 8
 9
10

@inproceedings{schubert2018drso, 
	author = {David Schubert and Nikolaus Demmel and Vladyslav Usenko and Jörg Stückler and Daniel Cremers}, 
	title = {Direct Sparse Odometry with Rolling Shutter}, 
	booktitle = {Proc. of the European Conf. on Computer Vision (ECCV)}, 
	year = {2018}, 
	pages = {699–714}, 
	eprint = {https://arxiv.org/abs/1808.00558}, 
	isbn = {9783030012373}, 
	doi = {10.1007/978-3-030-01237-3_42}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{usenko2018doublesphere, 
	author = {Vladyslav Usenko and Nikolaus Demmel and Daniel Cremers}, 
	title = {The Double Sphere Camera Model}, 
	booktitle = {Proc. of the International Conf. on 3D Vision (3DV)}, 
	year = {2018}, 
	eprint = {http://arxiv.org/abs/1807.08957}, 
	isbn = {9781538684252}, 
	doi = {10.1109/3dv.2018.00069}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{schubert2018vidataset, 
	author = {David Schubert and Thore Goll and Nikolaus Demmel and Vladyslav Usenko and Jörg Stückler and Daniel Cremers}, 
	title = {The TUM VI Benchmark for Evaluating Visual-Inertial Odometry}, 
	booktitle = {Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS)}, 
	year = {2018}, 
	eprint = {https://arxiv.org/abs/1804.06120}, 
	isbn = {9781538680940}, 
	doi = {10.1109/iros.2018.8593419}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{stumberg2018vidso, 
	author = {Lukas von Stumberg and Vladyslav Usenko and Daniel Cremers}, 
	title = {Direct Sparse Visual-Inertial Odometry Using Dynamic Marginalization}, 
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)}, 
	year = {2018}, 
	eprint = {https://arxiv.org/abs/1804.05625}, 
	isbn = {9781538630815}, 
	doi = {10.1109/icra.2018.8462905}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{usenko2017replanning, 
	author = {Vladyslav Usenko and Lukas von Stumberg and Andrej Pangercic and Daniel Cremers}, 
	title = {Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer}, 
	booktitle = {Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS)}, 
	year = {2017}, 
	eprint = {https://arxiv.org/abs/1703.01416}, 
	isbn = {9781538626825}, 
	doi = {10.1109/iros.2017.8202160}, 
}

1
2
3
4
5
6
7
8
9

@inproceedings{stumberg2017exploration, 
	author = {Lukas von Stumberg and Vladyslav Usenko and Jakob Engel and Jörg Stückler and Daniel Cremers}, 
	title = {From monocular SLAM to autonomous drone exploration}, 
	booktitle = {Proc. of the European Conference on Mobile Robots (ECMR)}, 
	year = {2017}, 
	eprint = {https://arxiv.org/abs/1609.07835}, 
	isbn = {9781538610961}, 
	doi = {10.1109/ecmr.2017.8098709}, 
}

1
2
3
4
5
6
7
8

@inproceedings{usenko2016vilsd, 
	author = {Vladyslav Usenko and Jakob Engel and Jörg Stückler and Daniel Cremers}, 
	title = {Direct visual-inertial odometry with stereo cameras}, 
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)}, 
	year = {2016}, 
	pages = {1885-1892}, 
	doi = {10.1109/ICRA.2016.7487335}, 
}

1
2
3
4
5
6
7

@inproceedings{engel2016monodataset, 
	author = {Jakob Engel and Vladyslav Usenko and Daniel Cremers}, 
	title = {A Photometrically Calibrated Benchmark For Monocular Visual Odometry}, 
	booktitle = {arXiv.org}, 
	year = {2016}, 
	eprint = {1607.02555}, 
}

1
2
3
4
5
6
7
8

@article{mohanarajah2015cloud, 
	author = {Gajamohan Mohanarajah and Vladyslav Usenko and Mayank Singh and Raffaello D'Andrea and Markus Waibel}, 
	title = {Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots}, 
	journal = {IEEE Transactions on Automation Science and Engineering}, 
	year = {2015}, 
	pages = {423-431}, 
	doi = {10.1109/TASE.2015.2408456}, 
}

1
2
3
4
5
6
7
8

@inproceedings{usenko2015stereolsdslam, 
	author = {Vladyslav Usenko and Jakob Engel and Jörg Stückler and Daniel Cremers}, 
	title = {Reconstructing Street-Scenes in Real-Time from a Driving Car}, 
	booktitle = {Proc. of the International Conf. on 3D Vision (3DV)}, 
	year = {2015}, 
	pages = {607-614}, 
	doi = {10.1109/3DV.2015.75}, 
}

1
2
3
4
5
6

@inproceedings{usenko2012furniture, 
	author = {Vladyslav Usenko and Florian Seidel and Zoltán-Csaba Márton and Dejan Pangercic and Michael Beetz}, 
	title = {Furniture Classification using WWW CAD Models}, 
	booktitle = {IROS Workshop on Active Semantic Perception}, 
	year = {2012}, 
}

1
2
3
4
5
6
7
8
9

@inbook{usenko2020tumflyers, 
	author = {Vladyslav Usenko and Lukas von Stumberg and Jörg Stückler and Daniel Cremers}, 
	title = {TUM Flyers: Vision---Based MAV Navigation for Systematic Inspection of Structures}, 
	booktitle = {Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges}, 
	year = {2020}, 
	pages = {189--209}, 
	isbn = {978-3-030-34507-5}, 
	doi = {10.1007/978-3-030-34507-5_8}, 
}

1
2
3
4
5
6
7
8
9

@inbook{stumberg2019chapter, 
	author = {Lukas von Stumberg and Vladyslav Usenko and Daniel Cremers}, 
	title = {A Review and Quantitative Evaluation of Direct Visual–Inertial Odometry}, 
	booktitle = {Multimodal Scene Understanding}, 
	year = {2019}, 
	pages = {159 - 198}, 
	isbn = {978-0-12-817358-9}, 
	doi = {10.1016/B978-0-12-817358-9.00013-5}, 
}

1
2
3
4
5
6
7

@phdthesis{usenko2019phd, 
	author = {Vladyslav Usenko}, 
	title = {Visual-Inertial Navigation for Autonomous Vehicles}, 
	booktitle = {PhD thesis, Technische Universität München}, 
	year = {2019}, 
	eprint = {https://mediatum.ub.tum.de/node?id=1454207}, 
}