000106633 001__ 106633 000106633 005__ 20210902121813.0 000106633 0247_ $$2doi$$a10.1109/TRO.2020.2991614 000106633 0248_ $$2sideral$$a119906 000106633 037__ $$aART-2020-119906 000106633 041__ $$aeng 000106633 100__ $$aZubizarreta, J. 000106633 245__ $$aDirect Sparse Mapping 000106633 260__ $$c2020 000106633 5060_ $$aAccess copy available to the general public$$fUnrestricted 000106633 5203_ $$aPhotometric 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. 000106633 536__ $$9info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-096367-B-I00$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2017-91104-EXP 000106633 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000106633 590__ $$a5.567$$b2020 000106633 591__ $$aROBOTICS$$b4 / 28 = 0.143$$c2020$$dQ1$$eT1 000106633 592__ $$a2.027$$b2020 000106633 593__ $$aComputer Science Applications$$c2020$$dQ1 000106633 593__ $$aElectrical and Electronic Engineering$$c2020$$dQ1 000106633 593__ $$aControl and Systems Engineering$$c2020$$dQ1 000106633 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000106633 700__ $$aAguinaga, I. 000106633 700__ $$0(orcid)0000-0002-3627-7306$$aMartinez Montiel, J.M.$$uUniversidad de Zaragoza 000106633 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000106633 773__ $$g36, 4 (2020), 1363-1370$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098 000106633 8564_ $$s1470059$$uhttps://zaguan.unizar.es/record/106633/files/texto_completo.pdf$$yPostprint 000106633 8564_ $$s3795578$$uhttps://zaguan.unizar.es/record/106633/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000106633 909CO $$ooai:zaguan.unizar.es:106633$$particulos$$pdriver 000106633 951__ $$a2021-09-02-10:02:56 000106633 980__ $$aARTICLE