Direct Sparse Odometry.
IEEE Transactions on Pattern Analysis and Machine Intelligence(2018)
摘要
Direct Sparse Odometry (DSO) is a visual odometry method based on a novel, highly accurate sparse and direct structure and motion formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry-represented as inverse depth in a reference frame-and camera motion. This is achieved in real tim...
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关键词
Cameras,Geometry,Three-dimensional displays,Optimization,Robustness,Computational modeling,Visualization
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