Direct Sparse Mapping
arXiv:1904.06577 · doi:10.1109/TRO.2020.2991614
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, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.
Accepted for publication in IEEE Transactions on Robotics