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LSD-SLAM：大型直接单目SLAMLSD-SLAM: Large-Scale Direct Monocular SLAM |
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| 课程网址: | http://videolectures.net/eccv2014_engel_monocular_slam/ |
| 主讲教师: | Jakob Engel |
| 开课单位: | 慕尼黑信息学院 |
| 开课时间: | 2014-10-29 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | We propose a direct (feature-less) monocular SLAM algorithm which, in contrast to current state-of-the-art regarding direct methods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image alignment, the 3D environment is reconstructed in real-time as pose-graph of keyframes with associated semi-dense depth maps. These are obtained by filtering over a large number of pixelwise small-baseline stereo comparisons. The explicitly scale-drift aware formulation allows the approach to operate on challenging sequences including large variations in scene scale. Major enablers are two key novelties: (1) a novel direct tracking method which operates on TeX, thereby explicitly detecting scale-drift, and (2) an elegant probabilistic solution to include the effect of noisy depth values into tracking. The resulting direct monocular SLAM system runs in real-time on a CPU. |
| 关 键 词: | 单目; 算法; 图像 |
| 课程来源: | 视频讲座网 |
| 数据采集: | 2020-11-29：yxd |
| 最后编审: | 2020-11-29：yxd |
| 阅读次数: | 46 |