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research:vslam [2015/05/19 23:42] Prof. Dr. Jörg Stückler |
research:vslam [2015/05/20 00:22] Prof. Dr. Jörg Stückler |
===== Direct SLAM for Monocular and Stereo Cameras ===== | ===== Direct SLAM for Monocular and Stereo Cameras ===== |
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**[[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. | **[[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. |
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