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Bernd Kitt
Researcher at Karlsruhe Institute of Technology
Publications - 17
Citations - 1006
Bernd Kitt is an academic researcher from Karlsruhe Institute of Technology. The author has contributed to research in topics: Object detection & Visual odometry. The author has an hindex of 12, co-authored 17 publications receiving 915 citations.
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Proceedings ArticleDOI
Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme
TL;DR: This paper proposes a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images which is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed.
Proceedings ArticleDOI
Visual SLAM for autonomous ground vehicles
TL;DR: A dense stereo V-SLAM algorithm that estimates a dense 3D map representation which is more accurate than raw stereo measurements which is shown in a Monte Carlo simulation.
Monocular Visual Odometry using a Planar Road Model to Solve Scale Ambiguity
TL;DR: This paper presents an approach to monocular visual odometry that compensates for drift in scale by applying constraints imposed by the known camera mounting and assumptions about the environment.
Proceedings ArticleDOI
How to learn an illumination robust image feature for place recognition
TL;DR: This work proposes to use a set of elementary building blocks from which millions of different descriptors can be constructed automatically, and presents an evaluation function which evaluates the performance of a given image descriptor for place recognition under severe lighting changes.
Proceedings ArticleDOI
Perception for a river mapping robot
Andrew Chambers,Supreeth Achar,Stephen Nuske,Jorn Rehder,Bernd Kitt,Lyle Chamberlain,Justin Haines,Sebastian Scherer,Sanjiv Singh +8 more
TL;DR: This work describes three key components that use computer vision, laser scanning, and inertial sensing to follow the river without the use of a prior map, estimate motion of the rotorcraft, ensure collision-free operation, and create a three dimensional representation of the riverine environment.