Volume XLII-2/W8
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 243-247, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-243-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 243-247, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-243-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  14 Nov 2017

14 Nov 2017

A VARIANT OF LSD-SLAM CAPABLE OF PROCESSING HIGH-SPEED LOW-FRAMERATE MONOCULAR DATASETS

S. Schmid1 and D. Fritsch2 S. Schmid and D. Fritsch
  • 1Daimler AG
  • 2Institute for Photogrammetry, University of Stuttgart, Germany

Keywords: monocular visual odometry, filter-based visual odometry, Augmented Reality

Abstract. We develop a new variant of LSD-SLAM, called C-LSD-SLAM, which is capable of performing monocular tracking and mapping in high-speed low-framerate situations such as those of the KITTI datasets. The methods used here are robust against the influence of erronously triangulated points near the epipolar direction, which otherwise causes tracking divergence.