128134 20241125101145.0 doi 10.1109/LRA.2023.3251722 sideral 135269 ART-2023-135269 eng Fontan, Alejandro SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM 2023 Access copy available to the general public Unrestricted This work presents SID-SLAM, a complete SLAM framework for RGB-D cameras. Our main contribution is a semi-direct approach that, for the first time, combines tightly and indistinctly photometric and feature-based image measurements. Additionally, SID-SLAM uses information metrics to reduce the state size with a minimal impact in the accuracy. Our evaluation on several public datasets shows that we achieve state-of-the-art performance regarding accuracy, robustness and computational footprint in CPU real time. In order to facilitate research on semi-direct SLAM, we record the Minimal Texture dataset, composed by RGB-D sequences challenging for current baselines and in which our pipeline excels. info:eu-repo/grantAgreement/ES/DGA/T45-20R info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00 info:eu-repo/grantAgreement/EUR/MICINN/TED2021-131150B-I00 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 4.6 2023 ROBOTICS 12 / 46 = 0.261 2023 Q2 T1 2.119 2023 Artificial Intelligence 2023 Q1 Biomedical Engineering 2023 Q1 Computer Science Applications 2023 Q1 Mechanical Engineering 2023 Q1 Control and Optimization 2023 Q1 Control and Systems Engineering 2023 Q1 Human-Computer Interaction 2023 Q1 Computer Vision and Pattern Recognition 2023 Q1 9.6 2023 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Giubilato, Riccardo Maza, Laura Oliva Civera, Javier Universidad de Zaragoza (orcid)0000-0003-1368-1151 Triebel, Rudolph 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 8, 10 (2023), 6387-6394 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 8800097 http://zaguan.unizar.es/record/128134/files/texto_completo.pdf Postprint 3213446 http://zaguan.unizar.es/record/128134/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:128134 articulos driver 2024-11-22-12:04:12 ARTICLE