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TUM Department of Informatics
Technical University of Munich

Technical University of Munich

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research:lsdslam [2015/03/12 08:43]
engelj
research:lsdslam [2015/05/19 23:21]
Jörg Stückler
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 ====== LSD-SLAM: Large-Scale Direct Monocular SLAM ====== ====== LSD-SLAM: Large-Scale Direct Monocular SLAM ======
-**Contact:​** [[members:​engelj]],​ [[schoepst@in.tum.de|Thomas Schöps]], [[members:​cremers]]+**Contact:​** [[members:​engelj]],​ [[members:​stueckle]], [[members:​cremers]]
  
 **LSD-SLAM** is a novel, direct monocular SLAM technique: Instead of using keypoints, it directly operates on image intensities both for tracking and mapping. The camera is tracked using **direct image alignment**,​ while geometry is estimated in the form of **semi-dense depth maps**, obtained by **filtering** over many pixelwise stereo comparisons. We then build a **Sim(3) pose-graph of keyframes**,​ which allows to build scale-drift corrected, large-scale maps including loop-closures. **LSD-SLAM** is a novel, direct monocular SLAM technique: Instead of using keypoints, it directly operates on image intensities both for tracking and mapping. The camera is tracked using **direct image alignment**,​ while geometry is estimated in the form of **semi-dense depth maps**, obtained by **filtering** over many pixelwise stereo comparisons. We then build a **Sim(3) pose-graph of keyframes**,​ which allows to build scale-drift corrected, large-scale maps including loop-closures.

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Informatik IX
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