LSD-SLAM: Large-Scale Direct Monocular SLAM
published: Oct. 29, 2014, recorded: September 2014, views: 14442
Report a problem or upload filesIf you have found a problem with this lecture or would like to send us extra material, articles, exercises, etc., please use our ticket system to describe your request and upload the data.
Enter your e-mail into the 'Cc' field, and we will keep you updated with your request's status.
We propose a direct (feature-less) monocular SLAM algorithm which, in contrast to current state-of-the-art regarding direct methods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image alignment, the 3D environment is reconstructed in real-time as pose-graph of keyframes with associated semi-dense depth maps. These are obtained by filtering over a large number of pixelwise small-baseline stereo comparisons. The explicitly scale-drift aware formulation allows the approach to operate on challenging sequences including large variations in scene scale. Major enablers are two key novelties: (1) a novel direct tracking method which operates on TeX, thereby explicitly detecting scale-drift, and (2) an elegant probabilistic solution to include the effect of noisy depth values into tracking. The resulting direct monocular SLAM system runs in real-time on a CPU.
Link this pageWould you like to put a link to this lecture on your homepage?
Go ahead! Copy the HTML snippet !