doi:10.1016/j.amc.2015.06.042engAbad, A.Barrio, R.Marco-Buzunariz, M.Rodríguez, M.Automatic implementation of the numerical Taylor series method: A Mathematica and Sage approachART-2015-91152This paper presents a dense monocular mapping algorithm that improves the accuracy of the state-of-the-art variational and multiview stereo methods by incorporat- ing scene priors into its formulation. Most of the improvement of our proposal is in low- textured image regions and for low-parallax camera motions; two typical failure cases of multiview mapping. The specific priors we model are the pla- narity of homogeneous color regions, the re- peating geometric primitives of the scene –that can be learned from data– and the Manhat- tan structure of indoor rooms. We evaluate the performance of our method in our own sequences and in the publicly available NYU dataset, emphasizing its strengths and weak- nesses in different cases.2015http://zaguan.unizar.es/record/3277910.1016/j.amc.2015.06.042http://zaguan.unizar.es/record/32779oai:zaguan.unizar.es:32779info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32100info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168info:eu-repo/grantAgreement/ES/MINECO/IPT2012-1309-430000Applied Mathematics and Computation 268 (2015), 227-245All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess