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research:vslam [2015/05/19 23:35] Prof. Dr. Jörg Stückler |
research:vslam [2018/05/15 18:22] Rui Wang |
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====== Visual SLAM ====== | ====== Visual SLAM ====== | ||
- | **Contact: | + | **Contact: |
We pursue direct SLAM techniques that instead of using keypoints, directly operate on image intensities both for tracking and mapping. | We pursue direct SLAM techniques that instead of using keypoints, directly operate on image intensities both for tracking and mapping. | ||
- | **LSD-SLAM** is a direct SLAM technique for monocular and stereo cameras. The camera is tracked using **direct image alignment**, | + | < |
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+ | ===== Direct SLAM for Monocular and Stereo Cameras ===== | ||
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+ | ===== Direct SLAM for RGB-D Cameras ===== | ||
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+ | For **[[research: | ||
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- | For SLAM with RGB-D cameras (RGB-D SLAM) we developed a method that also tracks the camera using **direct image alignment**. We optimize a **SE(3) pose-graph of keyframes** to find a globally consistent trajectory and alignment of images. |