Detalle Publicación

ARTÍCULO

Direct Sparse Mapping

Autores: Zubizarreta Gorostidi, Jon; Aguinaga Hoyos, Iker (Autor de correspondencia); Montiel, J. M. M.
Título de la revista: IEEE TRANSACTIONS ON ROBOTICS
ISSN: 1552-3098
Volumen: 36
Número: 4
Páginas: 1363 - 1370
Fecha de publicación: 2020
Resumen:
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.
DOI: https://doi.org/10.1109/TRO.2020.2991614
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