S
Simon Lynen
Researcher at Google
Publications - 56
Citations - 4838
Simon Lynen is an academic researcher from Google. The author has contributed to research in topics: Simultaneous localization and mapping & Pose. The author has an hindex of 23, co-authored 54 publications receiving 3867 citations. Previous affiliations of Simon Lynen include ETH Zurich & Institute of Robotics and Intelligent Systems.
Papers
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Journal ArticleDOI
Keyframe-based visual-inertial odometry using nonlinear optimization
TL;DR: This work forms a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms and compares the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter.
Proceedings ArticleDOI
A robust and modular multi-sensor fusion approach applied to MAV navigation
TL;DR: A generic framework, dubbed MultiSensor-Fusion Extended Kalman Filter (MSF-EKF), able to process delayed, relative and absolute measurements from a theoretically unlimited number of different sensors and sensor types, while allowing self-calibration of the sensor-suite online online is presented.
Proceedings ArticleDOI
Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments
TL;DR: This paper proposes a navigation algorithm for MAVs equipped with a single camera and an Inertial Measurement Unit (IMU) which is able to run onboard and in real-time, and proposes a speed-estimation module which converts the camera into a metric body-speed sensor using IMU data within an EKF framework.
Proceedings ArticleDOI
Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization
TL;DR: This paper demonstrates that large-scale, real-time pose estimation and tracking can be performed on mobile platforms with limited resources without the use of an external server by employing map and descriptor compression schemes as well as efficient search algorithms from computer vision.
Journal ArticleDOI
Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments
Davide Scaramuzza,Michael Achtelik,Lefteris Doitsidis,Friedrich Fraundorfer,Elias B. Kosmatopoulos,Agostino Martinelli,Markus W. Achtelik,Margarita Chli,Savvas A. Chatzichristofis,Laurent Kneip,Daniel Gurdan,Lionel Heng,Gim Hee Lee,Simon Lynen,Lorenz Meier,Marc Pollefeys,Alessandro Renzaglia,Roland Siegwart,Jan Stumpf,Petri Tanskanen,Chiara Troiani,Stephan Weiss +21 more
TL;DR: The technical challenges that have been faced and the results achieved from hardware design and embedded programming to vision-based navigation and mapping are described, with an overview of how all the modules work and how they have been integrated into the final system.