Michael Kasper

2 accepted papers

2017

Drift-correcting self-calibration for visual-inertial SLAM

Fernando Nobre, Michael Kasper, Christoffer Heckman

ICRA 2017poster

We present a solution for online simultaneous localization and mapping (SLAM) self-calibration in the presence of drift in calibration parameters in order to support accurate long-term operation. Calibration parameters such as the camera focal length or camera-to-IMU extrinsics are frequently subjec…

Cited by 24 Source ↗Scholar ↗

2016

Inertial aided dense & semi-dense methods for robust direct visual odometry

Juan M. Falquez, Michael Kasper, Gabe Sibley

IROS 2016poster

In this paper we give an evaluation of different direct methods for computing frame-to-frame motion estimates of a moving sensor rig composed of an RGB-D camera and an inertial measurement unit. In particular, we compare how semi-dense and fully dense tracking methods, with and without the aid of an…

Cited by 50 Source ↗Scholar ↗