Work

Direct Sparse Mapping

Year: 2020

Type: article

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.

Source: IEEE Transactions on Robotics

DOI: 10.1109/tro.2020.2991614

Authors: Jon Zubizarreta, Iker Aguinaga, Jose Maria Martinez Montiel

Institutions: Centro de Estudios e Investigaciones Técnicas de Gipuzkoa, Universidad de Navarra, Universidad de Zaragoza, Instituto de Investigación en Ingeniería de Aragón

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Eusko Jaurlaritza

Award: G8137498261