Direct Sparse Mapping

Jon Zubizarreta,Iker Aguinaga,José María Martínez Montiel

IEEE Transactions on Robotics（2020）

引用 83|浏览3

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摘要

Photometric bundle adjustment (PBA) accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, direct sparse mapping, a full monocular visual simultaneous localization and mapping (SLAM) based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.

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关键词

Photometric bundle adjustment (PBA),three-dimensional (3-D) vision,VSLAM

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