Direct Sparse Mapping
Jon Zubizarreta, Iker Aguinaga, Jose Maria Martinez 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, direct sparse mapping, a full monocular visual simultaneous localization and mapping (SLAM) based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.
Topics & Concepts
Artificial intelligenceComputer visionComputer scienceMonocularBundle adjustmentSimultaneous localization and mappingVisualizationPattern recognition (psychology)BundleSparse matrixCurrent (fluid)Iterative reconstructionMonocular visionImage segmentationVisual controlRobotics and Sensor-Based LocalizationAdvanced Vision and ImagingRemote Sensing and LiDAR Applications