arXiv:1904.06577
Direct Sparse Mapping
Direct Sparse Mapping
著者: Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
分類: cs.CV, cs.RO
原文アブストラクト
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.