Both sides previous revision
Previous revision
Next revision
|
Previous revision
Next revision
Both sides next revision
|
research:vslam [2015/05/19 23:41] Prof. Dr. Jörg Stückler |
research:vslam [2015/05/20 00:22] Prof. Dr. Jörg Stückler |
<html><center></html>{{:research:lsdslam:directvskp.png?500|}}<html></center><br></html> | <html><center></html>{{:research:lsdslam:directvskp.png?500|}}<html></center><br></html> |
| |
**[[research:lsdslam|LSD-SLAM]]** is a direct SLAM technique for monocular and stereo cameras. The camera is tracked using **direct image alignment**, while geometry is estimated in the form of **semi-dense depth maps**, obtained by **filtering** over many pixelwise stereo comparisons. We then build a **Sim(3) pose-graph of keyframes**, which allows to build scale-drift corrected, large-scale maps including loop-closures. | ===== Direct SLAM for Monocular and Stereo Cameras ===== |
| |
| **[[research:vslam:lsdslam|LSD-SLAM]]** is a direct SLAM technique for monocular and stereo cameras. The camera is tracked using **direct image alignment**, while geometry is estimated in the form of **semi-dense depth maps**, obtained by **filtering** over many pixelwise stereo comparisons. We then build a **Sim(3) pose-graph of keyframes**, which allows to build scale-drift corrected, large-scale maps including loop-closures. |
| |
<html><center><iframe width="640" height="360" src="//www.youtube.com/embed/GnuQzP3gty4" frameborder="0" allowfullscreen></iframe></center></html> | <html><center><iframe width="640" height="360" src="//www.youtube.com/embed/GnuQzP3gty4" frameborder="0" allowfullscreen></iframe></center></html> |
| |
| |
| ===== Direct SLAM for RGB-D Cameras ===== |
| |
For **[[research:rgb-d_sensors_kinect|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. | For **[[research:rgb-d_sensors_kinect|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. |