Direct Sparse Mapping

04/13/2019

∙

by   Jon Zubizarreta, et al.

∙

0

∙

share

Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.