78835 20210223082304.0 doi 10.1109/LRA.2018.2889156Y sideral 111186 ART-2019-111186 eng (orcid)0000-0002-3821-1968 Lee, S.H. Universidad de Zaragoza Loosely-Coupled Semi-Direct Monocular SLAM 2019 Access copy available to the general public Unrestricted We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and feature-based SLAM to perform three levels of parallel optimizations: 1) photometric bundle adjustment (BA) that jointly optimizes the local structure and motion, 2) geometric BA that refines keyframe poses and associated feature map points, and 3) pose graph optimization to achieve global map consistency in the presence of loop closures. This is achieved in real-time by limiting the feature-based operations to marginalized keyframes from the direct odometry module. Exhaustive evaluation on two benchmark datasets demonstrates that our system outperforms the state-of-the-art monocular odometry and SLAM systems in terms of overall accuracy and robustness. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 3.608 2019 1.555 2019 ROBOTICS 6 / 28 = 0.214 2019 Q1 T1 Artificial Intelligence 2019 Q1 Biomedical Engineering 2019 Q1 Computer Science Applications 2019 Q1 Mechanical Engineering 2019 Q1 Control and Optimization 2019 Q1 Control and Systems Engineering 2019 Q1 Human-Computer Interaction 2019 Q1 Computer Vision and Pattern Recognition 2019 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion (orcid)0000-0003-1368-1151 Civera, J. Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 4, 2 (2019), 399-406 IEEE Robot. autom. let. IEEE ROBOTICS AND AUTOMATION LETTERS 2377-3766 811810 http://zaguan.unizar.es/record/78835/files/texto_completo.pdf Postprint 116314 http://zaguan.unizar.es/record/78835/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:78835 articulos driver 2021-02-23-08:20:43 ARTICLE