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Computer Vision Group
Faculty of Informatics
Technical University of Munich

Technical University of Munich

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Visual SLAM

Contact: Jörg Stückler, Prof. Dr. Daniel Cremers

We pursue direct SLAM techniques that instead of using keypoints, directly operate on image intensities both for tracking and mapping.


Direct SLAM for Monocular and Stereo Cameras

LSD-SLAM is a direct SLAM technique for monocular and stereo cameras. 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.

Direct SLAM for RGB-D Cameras

For SLAM with RGB-D cameras (RGB-D SLAM) we developed a method that also tracks the camera using direct image alignment. We optimize a SE(3) pose-graph of keyframes to find a globally consistent trajectory and alignment of images.

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