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Direct Depth SLAM: Sparse Geometric Feature Enhanced Direct Depth SLAM System for Low-Texture Environments
This paper presents a real-time, robust and low-drift depth-only SLAM (simultaneous localization and mapping) method for depth cameras by utilizing both dense range flow and sparse geometry features from sequential depth images. The proposed method is mainly composed of three optimization layers, na...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2018
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6210715/ https://www.ncbi.nlm.nih.gov/pubmed/30301199 http://dx.doi.org/10.3390/s18103339 |