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2011

RS-SLAM: RANSAC sampling for visual FastSLAM

Lee, G. H., Fraundorfer, F. & Pollefeys, M., 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 1655-1660 6 p. 6048808

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Cameras
Sampling
Uncertainty

Tutorial: Visual odometry

Scaramuzza, D. & Fraundorfer, F., Dec 2011, In : IEEE Robotics & Automation Magazine . 18, 4, p. 80-92 13 p., 6096039.

Research output: Contribution to journalArticleResearchpeer-review

Wheels
Cameras
Augmented reality
Robotics
Textures
2012

PIXHAWK -A micro aerial vehicle design for autonomous flight using onboard computer vision

Meier, L., Tanskanen, P., Heng, L., Lee, G. H., Fraundorfer, F. & Pollefeys, M., Aug 2012, In : Autonomous Robots. 33, 1-2, p. 21-39 19 p.

Research output: Contribution to journalArticleResearchpeer-review

Micro air vehicle (MAV)
Computer vision
Stereo vision
Antennas
Synchronization

SFly: Swarm of micro flying robots

Achtelik, M., Achtelik, M., Brunet, Y., Chli, M., Chatzichristofis, S., Decotignie, J. D., Doth, K. M., Fraundorfer, F., Kneip, L., Gurdan, D., Heng, L., Kosmatopoulos, E., Doitsidis, L., Lee, G. H., Lynen, S., Martinelli, A., Meier, L., Pollefeys, M., Piguet, D., Renzaglia, A. & 6 othersScaramuzza, D., Siegwart, R., Stumpf, J., Tanskanen, P., Troiani, C. & Weiss, S., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 2649-2650 2 p. 6386281

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Micro air vehicle (MAV)
Robots
Computer vision
Cameras
Antennas

Vision-based autonomous mapping and exploration using a quadrotor MAV

Fraundorfer, F., Heng, L., Honegger, D., Lee, G. H., Meier, L., Tanskanen, P. & Pollefeys, M., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 4557-4564 8 p. 6385934

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Micro air vehicle (MAV)
Cameras
Optical flows
Wi-Fi
Microcontrollers

Visual odometry: Part II: Matching, robustness, optimization, and applications

Fraundorfer, F. & Scaramuzza, D., 2012, In : IEEE Robotics & Automation Magazine . 19, 2, p. 78-90 13 p., 6153423.

Research output: Contribution to journalArticleResearchpeer-review

Wheels
Textures
Cameras
Color
2013

Interactive Omnidirectional Indoor Tour

Bazin, J. C., Saurer, O., Fraundorfer, F. & Pollefeys, M., 22 Apr 2013, Emerging Technologies for 3D Video: Creation, Coding, Transmission and Rendering. John Wiley and Sons Ltd, p. 395-415 21 p.

Research output: Chapter in Book/Report/Conference proceedingChapterResearchpeer-review

Topology
Manual control
Polishing
Automation

Robust pose-graph loop-closures with expectation-maximization

Lee, G. H., Fraundorfer, F. & Pollefeys, M., 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 556-563 8 p. 6696406

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Bayesian networks
Robots
Cost functions

Structureless pose-graph loop-closure with a multi-camera system on a self-driving car

Lee, G. H., Fraundorfer, F. & Pollefeys, M., 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 564-571 8 p. 6696407

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Railroad cars
Cameras
Geometry
Uncertainty

Toward automated driving in cities using close-to-market sensors: An overview of the V-Charge Project

Furgale, P., Schwesinger, U., Rufli, M., Derendarz, W., Grimmett, H., Wonneberger, S., Timpner, J., Rottmann, S., Li, B., Schmidt, B., Nguyen, T. N., Cardarelli, E., Cattani, S., Bruning, S., Horstmann, S., Stellmacher, M., Mielenz, H., Beermann, M., Häne, C., Heng, L. & 14 othersLee, G. H., Fraundorfer, F., Iser, R., Triebel, R., Posner, I., Newman, P., Wolf, L., Pollefeys, M., Brosig, S., Effertz, J., Pradalier, C., Siegwart, R., Köser, K. & Mühlfellner, P., 2013, 2013 IEEE Intelligent Vehicles Symposium, IEEE IV 2013. p. 809-816 8 p. 6629566

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Railroad cars
Parking
Charge
Sensor
Sensors

UAV-based monitoring of pedestrian groups

Burkert, F. & Fraundorfer, F., 2013, In : The international archives of photogrammetry, remote sensing and spatial information sciences . 40, 1W2, p. 67-72 6 p.

Research output: Contribution to journalArticleResearchpeer-review

pedestrian
Unmanned aerial vehicles (UAV)
monitoring
Detectors
scenario
2014

A homography formulation to the 3pt plus a common direction relative pose problem.

Saurer, O., Vasseur, P., Demonceaux, C. & Fraundorfer, F., 2014, Lecture Notes in Computer Science. ., p. 288-301

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Autonomous visual mapping and exploration with a micro aerial vehicle

Heng, L., Honegger, D., Lee, G. H., Meier, L., Tanskanen, P., Fraundorfer, F. & Pollefeys, M., 2014, In : Journal of field robotics. 31, 4, p. 654-675 22 p.

Research output: Contribution to journalArticleResearchpeer-review

Antennas
Micro air vehicle (MAV)
Cameras
Optical flows
Sensors

Relative pose estimation for a multi-camera system with known vertical direction

Lee, G. H., Pollefeys, M. & Fraundorfer, F., 24 Sep 2014, Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society, p. 540-547 8 p. 6909470

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Cameras
Singular value decomposition
Polynomials

Structure-from-motion for MAV image sequence analysis with photogrammetric applications

Schönberger, J. L., Fraundorfer, F. & Frahm, J. M., 2014, In : The international archives of photogrammetry, remote sensing and spatial information sciences . 40, 3, p. 305-312 8 p.

Research output: Contribution to journalArticleResearchpeer-review

Micro air vehicle (MAV)
Image acquisition
Computational complexity
imagery
Pipelines
2015

Building and site reconstruction from small scale unmanned aerial vehicles (uav's)

Fraundorfer, F., 2015, Proceedings Joint Urban Remote Sensing Event (JURSE). ., p. 1-4

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Graz Griffins’ Solution to the European Robotics Challenges 2014

Pestana Puerta, J., Prettenthaler, R., Holzmann, T., Muschick, D., Mostegel, C., Fraundorfer, F. & Bischof, H., 2015, (Accepted/In press) Austrian Robotics Workshop. .

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Minimal solutions for the multicamera pose estimation problem.

Lee, G. H., Li, B., Pollefeys, M. & Fraundorfer, F., 2015, In : The International Journal of Robotics Research. 34, 7, p. 837-848

Research output: Contribution to journalArticleResearchpeer-review

On the use of UAVs in Mining and Archaeology - Geo-accurate 3D Reconstructions using Various Platforms and Terrestrial Views

Rumpler, M., Tscharf, A., Fraundorfer, F., Bischof, H. & Mayer, G., 2015, (Accepted/In press) Proceedings of the International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g). .

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Performance Evaluation of Vision-Based Algorithms for MAVs

Holzmann, T., Prettenthaler, R., Pestana Puerta, J., Muschick, D., Mostegel, C., Fraundorfer, F., Bischof, H. & Graber, G., 2015, Workshop of the Austrian Association for Pattern Recognition. ., p. 1-8

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Open Access
File
2016

Accuracy related research on the use of UAVs in Mine Surveying

Tscharf, A., Rumpler, M., Mayer, G., Fraundorfer, F. & Bischof, H., Sep 2016, XVI International Mine Surveying Congress.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Aerial image sequence geolocalization with road traffic as invariant feature

Máttyus, G. & Fraundorfer, F., 1 Aug 2016, In : Image and Vision Computing. 52, p. 218-229 12 p.

Research output: Contribution to journalArticleResearchpeer-review

Telecommunication traffic
Antennas
Global positioning system
Railroad cars
Imaging systems

A New Paradigm for Matching UAV- and Aerial Images

Koch, T., Zhuo, X., Reinartz, P. & Fraundorfer, F., 2016, ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. p. 83-90

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Open Access

Automatic alignment of indoor and outdoor building models using 3d line segments.

Koch, T. & Fraundorfer, F., 2016. 8 p.

Research output: Contribution to conferencePaperResearchpeer-review

Direct Stereo Visual Odometry Based on Lines

Holzmann, T., Fraundorfer, F. & Bischof, H., Feb 2016, 11th International Conference on Computer Vision Theory and Applications (VISAPP), 2016.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

File

Guided sparse camera pose estimation

Schenk, F., Mohr, L., Rüther, M., Fraundorfer, F. & Bischof, H., 2016, Proceedings of The 40th Annual Workshop of the Austrian Association for Pattern Recognition (OAGM), 2016. p. 139-146 8 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Open Access
File
Facades
Cameras
Image recording
Range finders
Distance measurement

Homography Based Egomotion Estimation with a Common Direction

Saurer, O., Vasseur, P., Boutteau, R., Demonceaux, C., Pollefeys, M. & Fraundorfer, F., 1 Feb 2016, In : IEEE Transactions on Pattern Analysis and Machine Intelligence. 39, 2, p. 327-341 15 p.

Research output: Contribution to journalArticleResearchpeer-review

Micro Aerial Projector - Stabilizing Projected Images Of An Airborne Robotics Projection Platform

Isop, W. A., Pestana Puerta, J., Ermacora, G., Fraundorfer, F. & Schmalstieg, D., Oct 2016, 2016 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS2016).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Robotics
Stabilization
Antennas
Lasers
Experiments

Minimal solutions for pose estimation of a multi-camera system

Hee Lee, G., Li, B., Pollefeys, M. & Fraundorfer, F., 2016, Springer Tracts in Advanced Robotics. Springer Verlag, Vol. 114. p. 521-538 18 p. (Springer Tracts in Advanced Robotics; vol. 114).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Cameras
Singular value decomposition
Polynomials

Regularized 3D Modeling from Noisy Building Reconstructions

Holzmann, T., Fraundorfer, F. & Bischof, H., 25 Oct 2016, International Conference on 3D Vision.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

The 3D-PITOTI Project with a Focus on Multi-Scale 3D Reconstruction using Semi-Autonomous UAVs

Mostegel, C., Poier, G., Reinbacher, C., Hofer, M., Fraundorfer, F., Bischof, H., Höll, T., Holler, G. & Pinz, A., May 2016, 1st OAGM-ARW Joint Workshop: Vision Meets Robotics. p. 51-52 2 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

The tum-dlr multimodal earth observation evaluation benchmark

Koch, T., d'Angelo, P., Kurz, F., Fraundorfer, F., Reinartz, P. & Körner, M., 2016. 8 p.

Research output: Contribution to conferencePaperResearchpeer-review

UAV-based Autonomous Image Acquisition with Multi-View Stereo Quality Assurance by Confidence Prediction

Mostegel, C., Rumpler, M., Fraundorfer, F. & Bischof, H., 2016, IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

UAV-Vermessung im Bergbau - Stand der Forschung und Ausblick

Tscharf, A., Rumpler, M., Mayer, G., Fraundorfer, F. & Bischof, H., May 2016, Schriftenreihe des Instituts für Markscheidewesen und Geodäsie.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Using Self- Contradiction to Learn Confidence Measures in Stereo Vision

Mostegel, C., Rumpler, M., Fraundorfer, F. & Bischof, H., 2016, IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Vision based safe navigation for search and rescue drones

Pestana Puerta, J. & Fraundorfer, F., 14 Oct 2016.

Research output: Contribution to conferencePosterResearch

Unmanned aerial vehicles (UAV)
Navigation
Drones
2017

3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection

Häne, C., Heng, L., Lee, G. H., Fraundorfer, F., Furgale, P., Sattler, T. & Pollefeys, M., 1 Dec 2017, In : Image and Vision Computing. 68, p. 14-27 14 p.

Research output: Contribution to journalArticleResearchpeer-review

Railroad cars
Cameras
Calibration
Pipelines
Navigation

A Detailed Description of Direct Stereo Visual Odometry Based on Lines

Holzmann, T., Fraundorfer, F. & Bischof, H., 9 Aug 2017, In : Communications in Computer and Information Science. 693

Research output: Contribution to journalArticleResearchpeer-review

Automated Inspection of Power Line Corridors to Measure Vegetation Undercut using UAV-based Images

Maurer, M., Hofer, M., Fraundorfer, F. & Bischof, H., Sep 2017, International Conference on Unmanned Aerial Vehicles in Geomatics. International Society for Photogrammetry and Remote Sensing

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Unmanned aerial vehicles (UAV)
Inspection
Semantics
Distance measurement
Pipelines

Automatic UAV image geo-registration by matching UAV images to georeferenced image data

Zhuo, X., Koch, T., Kurz, F., Fraundorfer, F. & Reinartz, P., 1 Apr 2017, In : Remote Sensing . 9, 4, 376.

Research output: Contribution to journalArticleResearchpeer-review

Open Access
registration
vehicle
orthophoto
GNSS
nadir

Combining Edge Images and Depth Maps for Robust Visual Odometry

Schenk, F. & Fraundorfer, F., 2017, Proceedings 28th British Machine Vision Conference (BMVC). 12 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Open Access
File
Cameras
Sensors
Cost functions
Lighting
Trajectories

Computer Vision for MAVs

Fraundorfer, F., 2017, Computer Vision in Vehicle Technology: Land, Sea & Air. John Wiley and Sons Ltd, p. 55-74

Research output: Chapter in Book/Report/Conference proceedingChapterResearch

Crop hail damage assessment based on radar and drone integrated technologies

Tani, S., Paulitsch, H., Fraundorfer, F., Süsser-Rechberger, B., Teschl, R., Rumpler, M. & Hofer, M., 19 Apr 2017, (Submitted).

Research output: Contribution to conferencePaperResearch

hail
radar
crop
damage
damage assessment

CSISmartScan3D - Cost-efficient Integrated 3D Crime Scene Documentation

Höller, J., Schenk, F., Urschler, M., Fraundorfer, F. & Bornik, A., Sep 2017.

Research output: Contribution to conferenceAbstractResearchpeer-review

Der Einsatz unbemannter Flugsysteme zur Charakterisierung von gesprengtem Haufwerk

Tscharf, A., Mostegel, C., Gaich, A., Mayer, G., Fraundorfer, F. & Bischof, H., 2017, 18. Geokinematischer Tag des Institutes für Markscheidewesen und Geodäsie am 10. und 12. Mai 2017 in Freiberg.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Evaluations on multi-scale camera networks for precise and geo-accurate reconstructions from aerial and terrestrial images with user guidance

Rumpler, M., Tscharf, A., Mostegel, C., Daftry, S., Hoppe, C., Prettenthaler, R., Fraundorfer, F., Mayer, G. & Bischof, H., 2017, In : Computer vision and image understanding. 157, p. 255-273

Research output: Contribution to journalArticleResearchpeer-review

GigaPan Image-Based 3D Reconstruction for Engineering Geological Investigation

Lee, H., Mostegel, C., Fraundorfer, F. & Kieffer, D. S., 12 Oct 2017, (Accepted/In press).

Research output: Contribution to conferencePosterResearch

engineering
methodology
quarry
photograph
dolomite

Innovative approaches for crop hail damage assessment based on Radar and drone technologies

Tani, S., Paulitsch, H., Fraundorfer, F., Süsser-Rechberger, B., Teschl, R., Rumpler, M. & Hofer, M., 27 Sep 2017.

Research output: Contribution to conference(Old data) Lecture or PresentationResearch

Package Delivery Experiments with a Camera Drone

Pestana Puerta, J., Maurer, M., Muschick, D., Adlakha, D., Bischof, H. & Fraundorfer, F., 12 May 2017.

Research output: Contribution to conferencePaperResearchpeer-review

Trucks
Cameras
Landing
Demonstrations
Experiments

Plane-based Surface Regularization for Urban 3D Reconstruction

Holzmann, T., Oswald, M. R., Pollefeys, M., Fraundorfer, F. & Bischof, H., 2017, 28th British Machine Vision Conference.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Open Access
File