The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | 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
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

  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.