TY - GEN
T1 - Simultaneous localization and mapping using monocular direct method
AU - Meng, Chao
AU - Guo, Baiwei
AU - Liu, Xin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - In this paper, we accomplish simultaneous localization and mapping using the monocular LSD-SLAM. This method is different with feature method, estimating the accurate and reconstructing the large scale environment map. Using the direct image alignment, the environment can be mapped in pose-graph of key frames semi-dense maps. The LSD-SLAM contains two advantage. A novel direct tracking method can definitely estimate the scale-drift. In addition, the probabilistic estimation can optimize the effect of noisy depth values on tracking. The experiment showed the LSD-SLAM is reliability, robustness and real-time.
AB - In this paper, we accomplish simultaneous localization and mapping using the monocular LSD-SLAM. This method is different with feature method, estimating the accurate and reconstructing the large scale environment map. Using the direct image alignment, the environment can be mapped in pose-graph of key frames semi-dense maps. The LSD-SLAM contains two advantage. A novel direct tracking method can definitely estimate the scale-drift. In addition, the probabilistic estimation can optimize the effect of noisy depth values on tracking. The experiment showed the LSD-SLAM is reliability, robustness and real-time.
KW - LSD-SLAM
KW - direct image alignment
KW - probabilistic estimation
KW - semi-dense maps
UR - http://www.scopus.com/inward/record.url?scp=85015231648&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2016.7838785
DO - 10.1109/ICARCV.2016.7838785
M3 - Conference contribution
AN - SCOPUS:85015231648
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -