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The Replica Dataset: A Digital Replica of Indoor Spaces

Jun 13, 2019
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, 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 M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, Richard Newcombe

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Continuous-Time Visual-Inertial Odometry for Event Cameras

Jun 10, 2018
Elias Mueggler, Guillermo Gallego, Henri Rebecq, Davide Scaramuzza

* 15 pages, 12 figures, 6 tables, IEEE Transactions on Robotics, 2018 

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Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision

Apr 05, 2018
Davide Falanga, Elias Mueggler, Matthias Faessler, Davide Scaramuzza

* IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017 

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Translation of "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung" by Erwin Kruppa (1913)

Dec 25, 2017
Guillermo Gallego, Elias Mueggler, Peter Sturm

* 16 pages, 1 figure. Granted reproduction permission from the publishing house of the Austrian Academy of Sciences (

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The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM

Nov 08, 2017
Elias Mueggler, Henri Rebecq, Guillermo Gallego, Tobi Delbruck, Davide Scaramuzza

* International Journal of Robotics Research, Vol. 36, Issue 2, pp. 142-149, Feb. 2017 
* 7 pages, 4 figures, 3 tables 

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Event-based, 6-DOF Camera Tracking from Photometric Depth Maps

Oct 31, 2017
Guillermo Gallego, Jon E. A. Lund, Elias Mueggler, Henri Rebecq, Tobi Delbruck, Davide Scaramuzza

* IEEE Transactions on Pattern Analysis and Machine Intelligence, 2017 
* 12 pages, 13 figures. 2 tables. (in press) 

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Independent Motion Detection with Event-driven Cameras

Jul 04, 2017
Valentina Vasco, Arren Glover, Elias Mueggler, Davide Scaramuzza, Lorenzo Natale, Chiara Bartolozzi

* 7 pages, 6 figures 

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Event-based Camera Pose Tracking using a Generative Event Model

Oct 07, 2015
Guillermo Gallego, Christian Forster, Elias Mueggler, Davide Scaramuzza

* 7 pages, 5 figures 

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