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research:vslam:omni-lsdslam [2015/07/31 00:21] engelj created |
research:vslam:omni-lsdslam [2015/09/21 21:58] engelj |
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| ====== Large-Scale Direct SLAM for Omnidirectional Cameras ====== |
| |
| We propose a real-time, direct monocular SLAM |
| method for omnidirectional or wide field-of-view fisheye cam- |
| eras. Both tracking (direct image alignment) and mapping |
| (pixel-wise distance filtering) are directly formulated for the |
| unified omnidirectional model, which can model central imaging |
| devices with a field of view well above 150◦ . This is in stark |
| contrast to existing direct mono-SLAM approaches like DTAM |
| or LSD-SLAM, which operate on rectified images, limiting |
| the field of view to well below 180◦ . Not only does this |
| allow to observe – and reconstruct – a larger portion of the |
| surrounding environment, but it also makes the system more |
| robust to degenerate (rotation-only) movement. The two main |
| contribution are (1) the formulation of direct image alignment |
| for the unified omnidirectional model, and (2) a fast yet accurate |
| approach to incremental stereo directly on distorted images. We |
| evaluated our framework on real-world sequences taken with a |
| 185◦ fish-eye lens, and compare it to a rectified and a piecewise |
| rectified approach. |
| |
| ====== Video ====== |
| |
<html><center><iframe width="640" height="360" src="//www.youtube.com/embed/v0NqMm7Q6S8" frameborder="0" allowfullscreen></iframe></center></html> | <html><center><iframe width="640" height="360" src="//www.youtube.com/embed/v0NqMm7Q6S8" frameborder="0" allowfullscreen></iframe></center></html> |
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| |
| ====== Dataset ====== |
| |
| * ** T1 (2:40min @ 50fps)** |
| * Video Preview: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] |
| * PNG: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] |
| * RosBag: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] |
| * Calibration File: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationRect.yaml|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationOrig.yaml|[Pinhole-Rectified]]] |
| |
| * ** T2 (1:19min @ 50fps)** |
| * Video Preview: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] |
| * PNG: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] |
| * RosBag: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] |
| * Calibration File: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationRect.yaml|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationOrig.yaml|[Pinhole-Rectified]]] |
| |
| * ** T3 (2:17min @ 50fps)** |
| * Video Preview: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] |
| * PNG: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] |
| * RosBag: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] |
| * Calibration File: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationRect.yaml|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationOrig.yaml|[Pinhole-Rectified]]] |
| |
| * ** T4 (2:08min @ 50fps)** |
| * Video Preview: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] |
| * PNG: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] |
| * RosBag: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] |
| * Calibration File: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationRect.yaml|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationOrig.yaml|[Pinhole-Rectified]]] |
| |
| * ** T4 (2:45min @ 50fps)** |
| * Video Preview: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.mp4|[Pinhole-Rectified]]] |
| * PNG: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.tar.gz|[Pinhole-Rectified]]] |
| * RosBag: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/T1_rectified.bag|[Pinhole-Rectified]]] |
| * Calibration File: [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationRect.yaml|[Pinhole-Rectified]]] [[http://vision.in.tum.de/~engelj/OmniDataset/T1/calibrationOrig.yaml|[Pinhole-Rectified]]] |
| |
| ====== Related publications ====== |
| <bibtex> |
| <keywords>semidense</keywords> |
| </bibtex> |