Direct Sparse Mapping
2019-04-13Code Available0· sign in to hype
Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
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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.