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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.
