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Direct Sparse Mapping

2019-04-13 17:50:28
Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel

Abstract

Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.

Abstract (translated)

光度学束调整,PBA,从视频精确估计几何图形。但是,当前PBA系统有一个临时映射,无法管理场景重新预订。我们提出,DSM,一个基于PBA的单眼视觉冲击。它的持久地图处理再观测,产生最准确的结果,最新的欧洲委员会的直接方法。

URL

https://arxiv.org/abs/1904.06577

PDF

https://arxiv.org/pdf/1904.06577.pdf


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