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Direct Sparse Mapping

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 based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.

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Related contextCo-authorshipCo-authorshipCo-authorshipAuthorshipAuthorshipAuthorshipTopic signalTopic signalWDirect Sparse Mappingpreprint / 2020AJon ZubizarretaResearcherAIker AguinagaResearcherAJ. M. M. MontielResearcherTComputer Vision30606 worksTRobotics7585 works
PaperSignal 105 links

Direct Sparse Mapping

preprint / 2020

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