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
A VARIANT OF LSD-SLAM CAPABLE OF PROCESSING HIGH-SPEED LOW-FRAMERATE MONOCULAR DATASETS
S. Schmid1 and D. Fritsch2 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.
Conference paper (PDF, 2036 KB)


Citation: Schmid, S. and Fritsch, D.: A VARIANT OF LSD-SLAM CAPABLE OF PROCESSING HIGH-SPEED LOW-FRAMERATE MONOCULAR DATASETS, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 243-247, https://doi.org/10.5194/isprs-archives-XLII-2-W8-243-2017, 2017.

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