Imperial College London

DrStefanLeutenegger

Faculty of EngineeringDepartment of Computing

Senior Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 7123s.leutenegger Website

 
 
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Location

 

360ACE ExtensionSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Zienkiewicz:2016:10.1109/IROS.2016.7759630,
author = {Zienkiewicz, J and Davison, AJ and Leutenegger, S},
doi = {10.1109/IROS.2016.7759630},
publisher = {IEEE},
title = {Real-Time Height Map Fusion using Differentiable Rendering},
url = {http://dx.doi.org/10.1109/IROS.2016.7759630},
year = {2016}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - We present a robust real-time method whichperforms dense reconstruction of high quality height mapsfrom monocular video. By representing the height map as atriangular mesh, and using efficient differentiable renderingapproach, our method enables rigorous incremental probabilisticfusion of standard locally estimated depth and colour intoan immediately usable dense model. We present results forthe application of free space and obstacle mapping by a lowcostrobot, showing that detailed maps suitable for autonomousnavigation can be obtained using only a single forward-lookingcamera.
AU - Zienkiewicz,J
AU - Davison,AJ
AU - Leutenegger,S
DO - 10.1109/IROS.2016.7759630
PB - IEEE
PY - 2016///
SN - 2153-0866
TI - Real-Time Height Map Fusion using Differentiable Rendering
UR - http://dx.doi.org/10.1109/IROS.2016.7759630
UR - http://hdl.handle.net/10044/1/38814
ER -