Fabian Schenk

2 accepted papers

2019

RESLAM: A real-time robust edge-based SLAM system

ICRA 2019poster

Simultaneous Localization and Mapping is a key requirement for many practical applications in robotics. In this work, we present RESLAM, a novel edge-based SLAM system for RGBD sensors. Due to their sparse representation, larger convergence basin and stability under illumination changes, edges are a…

Cited by 44 Source ↗Scholar ↗

2017

Robust edge-based visual odometry using machine-learned edges

Fabian Schenk, Friedrich Fraundorfer

IROS 2017poster

In this work, we present a real-time robust edge-based visual odometry framework for RGBD sensors (REVO). Even though our method is independent of the edge detection algorithm, we show that the use of state-of-the-art machine-learned edges gives significant improvements in terms of robustness and ac…

Cited by 43 Source ↗Scholar ↗