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Old Age
Direct Sparse Mapping
April 13, 2019 Β· Declared Dead Β· π IEEE Transactions on robotics
"No code URL or promise found in abstract"
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Authors
Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
arXiv ID
1904.06577
Category
cs.CV: Computer Vision
Cross-listed
cs.RO
Citations
131
Venue
IEEE Transactions on robotics
Last Checked
4 months ago
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.
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