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Handling pure camera rotation in semi-dense monocular SLAM.
- Source :
-
Visual Computer . Jan2019, Vol. 35 Issue 1, p123-132. 10p. - Publication Year :
- 2019
-
Abstract
- In this paper, we present a method for semi-dense monocular simultaneous localization and mapping (SLAM) that is capable of dealing with pure camera rotation motion which brings forward a severe challenge for current direct (featureless) monocular SLAM approaches. A probabilistic depth map model built on Bayesian estimation is combined with the main framework of the state-of-the-art direct method LSD-SLAM. Using this model, both rotation-only and general camera motions could be tracked, and a consistent depth map could be built in real-time. Experimental results demonstrate the outstanding performance of the proposed system. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 01782789
- Volume :
- 35
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- Visual Computer
- Publication Type :
- Academic Journal
- Accession number :
- 134766304
- Full Text :
- https://doi.org/10.1007/s00371-017-1435-0