Jakob Engel
31 Papers
108 Citations
Jakob Engel is an academic researcher from Facebook. The author has contributed to research in topics: Computer science & Odometry. The author has an hindex of 19, co-authored 28 publications. Previous affiliations of Jakob Engel include Technische Universität München.
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Papers
LSD-SLAM: Large-Scale Direct Monocular SLAM
Jakob Engel,Thomas Schops,Daniel Cremers +2 more
- 06 Sep 2014
TL;DR: A novel direct tracking method which operates on \(\mathfrak{sim}(3)\), thereby explicitly detecting scale-drift, and an elegant probabilistic solution to include the effect of noisy depth values into tracking are introduced.
Direct Sparse Odometry
TL;DR: Direct Sparse Odometry (DSO) as mentioned in this paper combines a fully direct probabilistic model with consistent, joint optimization of all model parameters, including geometry represented as inverse depth in a reference frame and camera motion.
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Direct Sparse Odometry
TL;DR: The experiments show that the presented approach significantly outperforms state-of-the-art direct and indirect methods in a variety of real-world settings, both in terms of tracking accuracy and robustness.
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The Replica Dataset: A Digital Replica of Indoor Spaces.
Julian Straub,Thomas Whelan,Lingni Ma,Yufan Chen,Erik Wijmans,Simon Green,Jakob Engel,Raul Mur-Artal,Carl Yuheng Ren,Shobhit Verma,Anton Clarkson,Yan Mingfei,Brian Budge,Yajie Yan,Xiaqing Pan,June Yon,Yuyang Zou,Kimberly Leon,Nigel Carter,Jesus Briales,Tyler Gillingham,Elias Mueggler,Luis Pesqueira,Manolis Savva,Dhruv Batra,Hauke Strasdat,Renzo De Nardi,Michael Goesele,Steven Lovegrove,Richard Newcombe +29 more
TL;DR: Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale, is introduced to enable machine learning (ML) research that relies on visually, geometrically, and semantically realistic generative models of the world.
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Large-scale direct SLAM with stereo cameras
Jakob Engel,Jörg Stückler,Daniel Cremers +2 more
- 01 Sep 2015
TL;DR: A novel Large-Scale Direct SLAM algorithm for stereo cameras (Stereo LSD-SLAM) that runs in real-time at high frame rate on standard CPUs, capable of handling aggressive brightness changes between frames - greatly improving the performance in realistic settings.