Direct Sparse Mapping

Zubizarreta, J. ; Aguinaga, I. ; Martinez Montiel, J.M. (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1109/TRO.2020.2991614

Año: 2020

Publicado en: IEEE Transactions on Robotics 36, 4 (2020), 1363-1370
ISSN: 1552-3098

Factor impacto JCR: 5.567 (2020)

Categ. JCR: ROBOTICS rank: 4 / 28 = 0.143 (2020) - Q1 - T1

Factor impacto SCIMAGO: 2.027 - Computer Science Applications (Q1) - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-096367-B-I00
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2017-91104-EXP

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)