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Direct Sparse Mapping
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DOI：10.1109/TRO.2020.2991614.png)
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Abstract
En 中文
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.
Keywords:
Optimization
Cameras
Robustness
Geometry
Simultaneous localization and mapping
Microsoft Windows
Trajectory
Photometric bundle adjustment (PBA)
three-dimensional (3-D) vision
VSLAM
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