LSD-SLAM: Large-Scale Direct Monocular SLAM

Pages: 834 - 849
Published: Sep 6, 2014
Abstract
We propose a direct (feature-less) monocular SLAM algorithm which, in contrast to current state-of-the-art regarding direct methods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image alignment, the 3D environment is reconstructed in real-time as pose-graph of keyframes with associated semi-dense depth maps. These are obtained by filtering over a large number of...
Paper Details
Title
LSD-SLAM: Large-Scale Direct Monocular SLAM
Published Date
Sep 6, 2014
Pages
834 - 849
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