BriefGPT.xyz
Apr, 2019
直接稀疏映射
Direct Sparse Mapping
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Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel
TL;DR
本研究针对现有Photometric bundle adjustment系统中无法处理场景重观测的问题，提出基于全单目视觉SLAM的DSM方案，实现了对场景重观测的持续跟踪和最精准估算，且在EuRoC研究中达到了迄今为止的最佳效果。
Abstract
photometric bundle adjustment
, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular
visual slam
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