SD-DefSLAM: Semi-direct monocular SLAM for deformable and intracorporeal scenes
JJ Gómez-Rodríguez, J Lamarca… - … on robotics and …, 2021 - ieeexplore.ieee.org
Conventional SLAM techniques strongly rely on scene rigidity to solve data association,
ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-
DefSLAM), a novel monocular deformable SLAM method able to map highly deforming
environments, built on top of DefSLAM [1]. To robustly solve data association in challenging
deforming scenes, SD-DefSLAM combines direct and indirect methods: an enhanced
illumination-invariant Lucas-Kanade tracker for data association, geometric Bundle …
ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-
DefSLAM), a novel monocular deformable SLAM method able to map highly deforming
environments, built on top of DefSLAM [1]. To robustly solve data association in challenging
deforming scenes, SD-DefSLAM combines direct and indirect methods: an enhanced
illumination-invariant Lucas-Kanade tracker for data association, geometric Bundle …
SD-DefSLAM: semi-direct monocular SLAM for deformable and intracorporeal scenes
JJG Rodríguez, J Lamarca, J Morlana… - arXiv preprint arXiv …, 2020 - arxiv.org
Conventional SLAM techniques strongly rely on scene rigidity to solve data association,
ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-
DefSLAM), a novel monocular deformable SLAM method able to map highly deforming
environments, built on top of DefSLAM. To robustly solve data association in challenging
deforming scenes, SD-DefSLAM combines direct and indirect methods: an enhanced
illumination-invariant Lucas-Kanade tracker for data association, geometric Bundle …
ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-
DefSLAM), a novel monocular deformable SLAM method able to map highly deforming
environments, built on top of DefSLAM. To robustly solve data association in challenging
deforming scenes, SD-DefSLAM combines direct and indirect methods: an enhanced
illumination-invariant Lucas-Kanade tracker for data association, geometric Bundle …
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